Microduino MIXC104E KIT-mCookie-Education User Manual Part 1

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Table Of Contents

Scratch Introduction

Hardware Introduction

Rotating Motor Project

Motion Sensor Motor Project

Emoji Robot Project

Single Axis Steadicam Project

Airbag Project

Wired RC car Project

Safety Car Project

Delivery Truck Project

Obstacle Course Project

Edge Avoidance Car Project

Line Finding Car 1 Project

Line Finding Car 2 Project

3-25

26-46

47-68

69-88

89-108

109-127

128-147

148-167

168-187

188-208

209-229

230-250

251-271

272-294

A Guide Book For MIXC104E

With Scratch, you can program your own interactive stories, games, and animations

— and share your creations with others in the online community.

Scratch helps young people learn to think creatively, reason systematically, and work

collaboratively — essential skills for life in the 21st century.

Your students can use Scratch to code

their own interactive stories, animations,

and games. In the process, they learn to

think creatively, reason systematically, and

work collaboratively — essential skills for

everyone in today’s society.

Introduction

The Microduino MIX guide will show guide will walk you through an

introduction in the use of Arduino’s Scratch editor and then a number

of projects. With each project the challenge level increases so as to

expand your knowledge of coding and code thinking.

The process of coding also involves how to organize in your thinking

the process and sequence of events that will result in the correct oper-

ation of your project.

In our projects we use the Arduino ‘Scratch’ editor to construct and ex-

ecute code to drive the hardware of projects. Scratch has become one

of, if not the, most popular coding tool today.

As you read the introduction of Scratch keep in mind that the basic ar-

eas of the scratch editor uses many similar terms used in the parts of

a stage play. It refers to stages, scripts, costumes, backdrops and so

on. This is meant to help us create a mental image of what we doing.

Beyond this we get into the more technologial terms of technology.

Installation

The Interface

Toolbar

Scripts Area

Palettes &

Panes

Sprites & Backdrop

Stage

Toolbar

The Tool Bar in Scratch provides many useful functions and conguration options. Below is a quick overview of each

menu item. Some terms and phrases will be explain later.

New Project - creates a new blank project.

Open Project - open a saved project.

Save / Save As - save / save as the current project.

Undo - undo the most recent change in the project.

Redo - redo the most recent undo in the project.

Settings - various conguration settings

for Scratch.

• Kit - select a Microduino kit, which

shows enables dierent blocks.

• Flash rmware - ash the required

rmware onto the hardware to use

Scratch / Live mode.

• Language - select language.

• Check update - check for and update

to the latest Scratch version.

• Issue report - submit a bug report.

• About - information on the version of

Scratch.

Mode Selection - select dierent control modes for Scratch:

• Scratch / Live mode - control MIX hardware in real time

using Scratch blocks. MIX hardware requires a constant

connection to a PC in order to function.

• Arduino Mode - compiles and uploads codes onto MIX

hardware. Once a program is uploaded, MIX hardware can

run independently without a PC connection.

• Text Coding Mode - text based programming. Currently

under development.

Serial Port - select serial port for usage or program-

ming of MIX hardware.

Stage

Scratch can be thought as a school play. The Stage is where the viewer sees the

play. Sprites can be thought as actors or characters in a play. Backdrop is the

background. Together they make the Stage. Below is a quick overview. Some

terms and phrases will be explained later.

Stop Sign:

When clicked, stops all

Scripts that are running.

Green Flag:

When clicked, all “When Green

Flag Click” blocks activates.

Backdrop:

Is the background of the stage.

There can only be one Backdrop.

It can be change and you can also

design your own.

Sprite:

Sprites can be thought as actors

or characters. There can be multi-

ple Sprites on the Stage. You can

also design your own.

The Stage includes Sprite(s) and a Backdrop.

Sprites & Backdrop

This section allows you to select, edit and create Sprites and Backdrops. Select-

ing a Sprite or Backdrop is done by clicking on it from this section. Below is a

quick overview. Some terms and phrases will be explained later.

Sprites in your project

are located here. There

can be multiple sprites in

a project. New projects

automatically have one

Sprite included. Its name

is Corey.

Add a new sprite from

the sprite library.

Add a new backdrop

from the backdrop library.

Current backdrop.

When a sprite is selected. Edit the sprite name,

sprite position on the stage, visibility, size of the

sprite and the angle of the sprite.

Palettes & Panes

This section of the interface contains the Sprite Pane, Costume Pane / Backdrop Pane, and Sound Pane. You can switch

between the panes by clicking on the appropiate tabs.

Click to activate

Script pane.

Click to activate Costumes

or Backdrops Pane.

Click to activate

Sound pane.

Script Pane

The Script Pane contains the tools you need to make your Sprite or Backdrop

do things. A Script can be thought of as the instructions that your Sprite or Back-

drop follows, similar to a school plays’ script which instructs the actor what to do.

Some terms and phrases will be explained later.

Block Categories:

Blocks are sorted to dierent

categories for quicker access.

Each category has its own color

and the Blocks contained within

are the same color. For example,

“Motion” Blocks are all purple.

Blocks:

Blocks are instructions for your

Sprite or Backdrop to follow.

There are many Blocks each with

their own type. Blocks are cate-

gorized into dierent categories.

Scripts Area

The Scripts Area is one of the most important parts of the Scratch interface. It allows you to create and assemble the

Script for your currently selected Sprite or Backdrop. You can drag Blocks from the Scripts Pane into the Scripts Area to

assemble your Script. Each Sprite or Backdrop has its own personal Scripts Area. A Script can be thought of as the in-

structions that your Sprite or Backdrop follows.

Scripts Area:

Assemble your Script for your

currently selected Sprite or

Backdrop.

Assemble Scripts by

dragging Blocks into

the Script Area.

Exercise: “First Steps” Block Locator

Let’s create your very rst project! Let make Corey take its very rst steps.

Assemble the Script below by dragging the Blocks you need from the Sprite Pane

into the Scripts Area. The “Block Locator” sidebar is there to aid you in nding the

blocks you need you need quickly. Use it for your convenience!

Assemble Scripts by

dragging Blocks into

the Script Area.

Motion

Exercise: “First Steps”

Now click on the Block you just added to the Scripts Area. What happens to

Corey on the stage? It moved 10 steps to the right!

Click on any colored part

of the block to activate it.

Types of Blocks

There are dierent types of Blocks which have dierent shapes. Each shape has a dierent purpose and is

intended to aid in assembling Scripts.

Hat blocks are the blocks that start every script. They are shaped with a rounded top

and a bump at the bottom — this is so you can only place blocks below them.

Stack blocks are the blocks that perform the main commands. They are shaped with a

notch at the top and a bump on the bottom — this is so blocks can be placed above and

below them.

Boolean blocks are the conditions — they are either true or false. It’s like asking your

friend: “Does 2 + 2 = 4?”, and they would either tell you “Yes” or “No”. Boolean blocks

have a hexagonal shape.

Reporter blocks are the values. Shaped with rounded edges, Reporter blocks can hold numbers

and strings. It is like asking a friend, for example, “What is 2 + 2?”, and they would answer “4”.

It is not just equations however, it can report a variable, for example, “What is your age?”. They

may answer: “15”.

C blocks are blocks that take the shape of “C’s”. Also known as “Wrap blocks”, these

blocks loop the blocks within the Cs or check if a condition is true.

Cap blocks are the blocks that end scripts. They are shaped with a notch at the top and

a at bottom — this is so you cannot place any blocks below them.

Source: https://wiki.scratch.mit.edu/wiki/Blocks

Costume Pane

When a Sprite is currently selected, the middle tab becomes the Costume Pane. This section allows you

to design Costumes for your currently selected Sprite. Costumes can be thought of as a dierent image /

appearance for your Sprite. It is useful to use Costumes when creating animations for your Sprite or if you

want your Sprite to change its appearance.

When a Sprite

is selected.

Add a new

costume for the

currently select-

ed Sprite.

Costumes for

the currently

selected Sprite.

Editing tools.

Costume’s name.

Costume’s

Appearance

Exercise: “Second Steps” Block Locator

How can we animate Corey to look like it is walking?

We change Corey’s costume to look like it is taking steps.

Assemble the Script below:

Motion

Looks

Control

Click on any color portion of the Script. What does Corey do?

Corey walks with an animation! Click repeatedly to make Corey perform the animation over and over again.

Click on any colored part

of the block to activate it.

Exercise: “Second Steps”

When Backdrop is currently selected, the middle tab becomes the Backdrops Pane. This section allows

you to design Backdrops. It is useful to have multiple Backdrops if you want to change the background for

your project.

When a Back-

drop is selected.

Add a new

Backdrop to the

project.

Backdrops in the

current project.

Editing tools.

Backdrop’s name.

Backdrop’s

Appearance

Backdrop Pane

Corey doesn’t like walking in a blank white space. Corey wants to walk in the park!

How can we make Corey walk in a park?

We can change the Backdrop to a scenery of a park.

But rst we need to create a Backdrop of a park.

Creating a Backdrop

Add a new backdrop

from the backdrop library.

Creating a Backdrop

Select a backdrop for the park.

Exercise: “A Walk in the Park” Block Locator

Don’t forget to switch back to Corey by

selecting Corey and then switching to the

Scripts Pane.

Once you have created your new Backdrop,

assemble the blocks below:

Motion

Looks

Control

1. Click to select Corey.

2. Click to switch to

Switch Pane.

Set to your newly

Created Backdrop.

Exercise: “A Walk in the Park”

Click and Corey

will start walking

forever.

Click to change the

Backdrop to the

default white one.

Click to change the

Backdrop to your

custom one.

Sound Pane

List of sounds

for the currently

selected Sprite or

Backdrop.

New sound

creating options.

Click to activate

Sound pane. Sound’s name.

Editing and

playback tools.

Sound wave

appearance.

This chapter is intended to give a basic understanding of how to use Scratch when creating projects in

the MIX kits. There are a vast amount of topics to learn about Scratch which are outside the scope of

this product. Many resources can be found online to learn more about Scratch!

Further Learning

Links

• https://scratch.mit.edu/

Hardware Mix 4

MIX 4 Kit Contents

1x Color LED

1x Touch Button

1x USB Cable 24x Hub Connector Cables

Sensors Trinkets

4x Line Finder

2x Servo

2x Potentiometer

1x Motion

1x Motor Controller

2x IO Splitter

1x Remote Control

1x IR Receiver

2x Wheel

2x Motor

Building Blocks

1x mCenter+

1x OLED

1x Servo Connector

1x Joystick

1x Buzzer

Scratch and mCookie

The Microduino version of Scratch contains special added features which enables the use of mCookie modules. The

Blocks under the Category Block called Arduino and mCookie, adds support to use mCookie modules.

Blocks can be found

under the category

Arduino and

mCookie.

Scratch and mCookie

You can use the Blocks under the Arduino and mCookie category in your Scripts as you would use any other Block.

Arduino and

mCookie Blocks.

mCookie Series

Microduino’s mCookie series is designed for ease of use. The series is modular, stackable, magnetized, easily connect-

able and building blocks compatible. It makes assembling a project quick and easy.

Modular Stackable and Magnetized Building Block Compatible

mCenter+

Is a ve-in-one module which contains:

• Li-ion Battery: battery pack to power your projects which can be recharged via the USB port.

• mCookie Core+: a tiny central processing unit (CPU), which is the brains of your projects.

• USB Programmer: programs the Core+ module and acts as a serial communication bridge between your computer

and Core+ module.

• Bluetooth Upload: similar to the USB programmer, but works wirelessly over Bluetooth communication.

• Hub: connects various modules such as sensors, trinkets, and other modules to your projects. These modules can

then be accessed by the Core+ module.

MicroUSB Port: To charge the battery

and upload programs to a embedded

Core+ module when connected to a

computer.

IMPORTANT: When uploading programs, make sure the

red LED is on, which means the modules are receiving

power.

Power Switch: Turn on or o the battery

to supply power to the modules.

LED Power Indicator: Indicates if

mCenter is on or o.

Hub Connectors:

Connect sensors or trinkets

to mCenter+ with a Hub

Connector Cable.

Module Pad: Stack

modules to mCenter+.

Embedded Core+ Module

mCenter+ contains an embedded Core+ module. The Core+ module is the brains of your projects. It is a tiny central pro-

cessing unit (CPU) that you can program or control. It is capable of controlling or sensing information from other modules.

It is programmable when connected to a computer.

mCenter+’s Hub

mCenter+ incorporates a Hub. The Hub connects various modules such

as sensors, trinkets, and other modules to a project. These modules

can then be accessed by the embedded Core+ module. The Hub has

10 connection header ports. Each connection header has support for

dierent sets of features. Some headers may support a feature, while

another may not.

2/3 6/7

8/9

I2C A2/A3

I2C

4/5

A6/A7

A0/A1

I2C

A6/A7

A2/A3

A0/A1

2/3 6/7

4/5 8/9

Digital signals produce only a o (LOW) or

on (HIGH) state. There is no “middle” state

between the two.

Analog signals are continuous and fea-

ture many “middle” points. They look like

smooth curves.

IIC is a type of serial communication interface. It is more ad-

vanced than digital and analog signals. Under IIC, messages

are exchanged and understood between communicating mod-

ules. Modules such as the OLED screen, temperature & humid-

ity sensor, real time clock (RTC) module and other modules use

this method of communication.

Color LED

The Color LED is a LED composed of 3 smaller LEDs which emit red, green, and blue.

Each color’s brightness value can be congured individually. This can produce a wide

variety of colors. It is controlled over a special communication protocol which is dier-

ent from the basic “Digital Output” (used by Single-Color LED).

Usage

This block congures what color a particular Color LED

displays.

Hub pin the 1st Color

LED is connected.

Transition from

this color.

Transition to

this color.

Color LED - Color Select block

Color LED - Color Transition block

This block causes a particular Color LED to transition from one

color to another color under a time span. (Note: This block must

complete its transition before proceeding to the next block in the

script.)

Index of the Color

LED to congure.

Color to change

the Color LED to.

Hub pin the 1st Color

LED is connected.

Set duration (in milliseconds)

for the transition.

• The Color LED connected

directly to the Hub is index 0.

• The Color LED connected

next in the chain is index 1.

• And so on.

Indexing

2/3

8/9

I2C A2/A3

I2C

4/5

A6/A7

A0/A1

6/7

IN INOUT OUT

Index of the Color

LED to congure.

ColorLED

Index: 0

ColorLED

Index: 1

A Potentiometer is a input module which can be turned or rotated right or left. Based

on the position of the knob, it produces a dierent signal value for the Core module to

read. It must be connected to an analog port (ports denoted with “A”).

Analog Read block

This block returns the value from the Potentiometer. A value between 0 and 1023 is returned.

If the potentiometer is turned all the way to the left, it produces a 0 value. If it is turned all

the way tot the right, it produces a 1023 value. In the middle it produces a value around 512.

Pin the Potentiometer

is connected to.

0 1023

Potentiometer

Motor

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

Motion

The Motion module is a triple axis accelerometer and gyroscope.

It is capable of measuring on the X, Y & Z axis the:

• Angle

• Acceleration

• Angular velocity

It uses the “I2C” communication protocol and must be connected to and “I2C” port on

mCenter+.

Motion - Read block

This block reads data from the Motion module. It is capable of retrieving the angle,

acceleration and angular velocity on the X, Y or Z axis.

Angle, acceleration, or

angular velocity to read.

On the X, Y or Z axis.

Servo - Set Angle block

Servo - Move From-To Angle block

Sets the angle of the Servo. Quickly moves (as fast as possible) to the desired angle.

Sets the angle from the starting angle to the target angle. This move-

ment is performed in the specied duration time.

Pin the Servo is

connected to.

Angle to set Servo to.

Pin the Servo is

connected to. Starting angle

of Servo.

Target angle

for Servo.

Time in millisecond to move

from starting angle to target

angle.

A Servo is an actuator which consist of a motor and other electronic components which

allows for precise angle adjustments of the attached horn. The servo included in the kit

has an adjustable angle range between 0 and 180 degrees.

Servo

A Joystick is an input module (sensor)

which can sense if the stick is in the

up, down, left or right positions.

In addition, it can sense if it being

pressed (pressing directly on stick).

Left Right

Down

Press

Usage

The Joystick must be connected to an “Analog Read” compatible pin.

These are the pins prexed with an “A” (pins A0 to A7).

Joystick State block

On the dened Joystick pin, if the stick’s position (up, down, left,

right or center (pressed)) matches the state (released, pressed or

pressing), then this block returns TRUE.

Otherwise, this block returns FALSE.

Pin Joystick is

connected to.

Stick position

to check.

Stick position’s

state to match.

Joystick

The Line Finder module is able to detect reectivity or gray level of a surface. In gen-

eral, darker or less reective surfaces produces a higher value. While a lighter or more

reective surface produces a lower value. It must be connected to a pin with an

“A” prex (A0/A1, A2/A3, A6/A7).

Analog Read block

This block returns the value that the Line Finder detects. A value between 0 and 1023 is

returned.

Pin that Line Finder

is connected to.

0 1023

Darker,

less reective surfaces.

Lighter,

more reective surfaces.

Surface Reectivity

Value Returned

Line Finder

Hardware Connectivity

Stacking Modules

Stacking module is done simply by stacking them on the mCenter+

or upon themselves as shown. Ensure pins line up correctly.

Connecting Modules to the Hub

Connecting sensors, trinkets, and other modules to the Hub is done with the Hub

Connector Cable. Connect one side of the cable to the module and the other to

a port on the Hub. As shown.

Stack modules,

ensure gold pins align.

Sensor, Trinket, or other module

Hub Connector Cable

mCenter+’s Hub

Setup for Scratch

Using the mCookie modules with Scratch can be accomplished in two ways: Live mode and Arduino mode. The projects

in this MIX Kit will use Scratch in Live mode. Arduino mode is an advanced mode and will not be covered in this Kit.

Live Mode Arduino Mode

Select Live Mode here. Select Arduino Mode here.

Live Mode

Live Mode is the default mode when using Scratch. It allows you to use Scratch as normal, but with the ability to use mod-

ules included in the MIX Kit. You must upload a special rmware onto the Core module to use this mode.

In this mode, to control the modules, you will need to have your project connected to your computer sending commands in

real time. If you disconnected the project from your computer, your project will no longer be receiving commands.

Select Live Mode here.

Live Mode

A rmware is a program that runs on the Core module. Live Mode requires a special rmware to be upload onto the Core

module. This special rmware allows the Core module to perform commands sent from your computer in real time.

Uploading this special rmware only needs to be done once, unless it is overwritten with another rmware (such as when

using Arduino mode).

Computer send or receives

commands with mCenter+ over

USB.

mCenter+ acts as a communi-

cation bridge with the Comput-

er and the embedded Core+

module.

Core+ module receives or sends

commands with mCenter+.

Live Mode

Uploading the Special Firmware

In Hardware

• Ensure drivers are install.

• Connect mCenter+ to your computer using a MicroUSB cable.

• A LED near the power switch should be on. If not, turn on mCenter+ with the power switch.

In Scratch:

• Select the port mCenter+ is connected to.

• Select it again to disconnect. It should show “disconnected” before attempting to upload the rmware.

• Under Settings select Flash rmware and select mCookie to upload the special rmware. Uploading will start.

• Select the port mCenter+ is connected to again to begin using Scratch with MIX hardware.

Select Serial Port. Flash rmware

Arduino Mode

Arduino Mode is a special mode which can be enabled. It acts as a drag and drop editor for programming. The Stage

is disabled and many Block Categories cannot be used.

The main advantage of using Arduino Mode is that code is generated, compiled, and uploaded. This means that you

can disconnect your project from your computer and it can still work. Whereas, during Live Mode, you need to have

your project connected to your computer to instruct your project what to do.

Arduino Mode can be accessed by clicking on the Arduino Mode button.

mCenter+ runs its own program without

needing to be connected to a Computer.

Select Arduino Mode here.

Revolutions Indicator

MIX4 - Project 1

(Old Cards: MIX4A-01)

About Revolutions Per Minutes (RPM)

Revolutions per minute (abbreviated rpm, RPM, rev/min, r/min) is a measure of the frequency of rotation,

specically the number of rotations around a xed axis in one minute. It is used as a measure of rotation-

al speed of a mechanical component.

Source: https://en.wikipedia.org/wiki/Revolutions_per_minute

Review of Modules

mCenter+

Is a ve-in-one module which contains:

• Li-ion Battery: battery pack to power your projects which can be recharged via the USB port.

• mCookie Core+: a tiny central processing unit (CPU), which is the brains of your projects.

• USB Programmer: programs the Core+ module and acts as a serial communication bridge between your

computer and Core+ module.

• Bluetooth Upload: similar to the USB programmer, but works wirelessly over Bluetooth communication.

• Hub: connects various modules such as sensors, trinkets, and other modules to your projects. These mod-

ules can then be accessed by the Core+ module.

Review of Modules

The Color LED is a LED composed of 3 smaller LEDs which emit red, green, and blue.

Each color’s brightness value can be congured individually. This can produce a wide

variety of colors. It is controlled over a special communication protocol which is dier-

ent from the basic “Digital Output” (used by Single-Color LED).

Usage

Color LED

This block congures what color a particular Color LED

displays.

Hub pin the 1st Color

LED is connected.

Transition from

this color.

Transition to

this color.

Color LED - Color Select block

Color LED - Color Transition block

This block causes a particular Color LED to transition from one

color to another color under a time span. (Note: This block must

complete its transition before proceeding to the next block in the

script.)

Index of the Color

LED to congure.

Color to change

the Color LED to.

Hub pin the 1st Color

LED is connected.

Set duration (in milliseconds)

for the transition.

• The Color LED connected

directly to the Hub is index 0.

• The Color LED connected

next in the chain is index 1.

• And so on.

Indexing

2/3

8/9

I2C A2/A3

I2C

4/5

A6/A7

A0/A1

6/7

IN INOUT OUT

Index of the Color

LED to congure.

ColorLED

Index: 0

ColorLED

Index: 1

Review of Modules

A Potentiometer is a input module which can be turned or rotated right or left. Based

on the position of the knob, it produces a dierent signal value for the Core module to

read. It must be connected to an analog port (ports denoted with “A”).

Analog Read block

This block returns the value from the Potentiometer. A value between 0 and 1023 is returned.

If the potentiometer is turned all the way to the left, it produces a 0 value. If it is turned all

the way tot the right, it produces a 1023 value. In the middle it produces a value around 512.

Potentiometer

Pin the Potentiometer

is connected to.

0 1023

Introduction of New Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

The Problem

How can we create a motor controller with a revolutions indicator?

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use a Potentiometer to control the speed of the Motor. Use a Color LED to indicate the revolutions per minute.

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

2x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

1x Motor - motor to control the speed of.

1x Potentiometer - used as an input to control the speed of the motor.

1x Motor Controller - controls and drives the attached motors.

1x Color LED - indicate the revolutions per minute of the motor.

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use a Potentiometer as an input to adjust the speed of the Motor.

Use a Color LED to indicate the current revolutions per minute.

Read in the value of the Potentiometer (between 0 and 1023).

Map the Motor’s speed based on the Potentiometer value (accepts values between 0 and 255).

Map the Color LED’s brightness level based on the Potentiometer value (accepts values between 0 and 255).

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Read and store the

Potentiometer value

Scale the Color LED brightness based

on the Potentiometer value

Scale the Motor speed based

on the Potentiometer value

Short delay

Loop

forever.

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto the mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Color LED (IN port) to pin 4/5.

4. Connect a Potentiometer to pin A0/A1.

5. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Read and store the

Potentiometer value

Scale the Color LED brightness based

on the Potentiometer value

Scale the Motor speed based

on the Potentiometer value

Short delay

Loop

forever.

The Script

Click Green Flag to activate script. (Create “input” variable rst in

the variable tab.)

Read and store the value

of the Potentiometer (pin A0).

Indicated the RPM with

the Color LED (pin 4).

Set Motor (1) speed based

on Potentiometer value.

Short delay before looping.

Loop.

Control

Events

mCookie

Data

Operators

Arduino

Block Locator

Click the green

ag to activate

the script.

1. Rotate the Potentiometer to

adjust the speed of the Motor.

The Motor and Color LED

will react to the position of

the Potentiometer.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

Project Challenge

Scale the Potentiometer input so that the values between 0 and 511 causes the

Motor to rotate backwards (-255~0).

Scale the Potentiometer input so that the values between 512 and 1023 causes

the Motor to rotate forwards (0~255).

When the Motor is rotating backwards, make the Color LED red.

When the Motor is rotating forwards, make the Color LED green.

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Potentiometer - input module with an adjustable knob.

Analog Read block - reads the value from the potentiometer. Returns a value between 0 and

1023.

Color LED - congurable to display a wide range of colors.

Color LED - Color Select block - congures what color a particular Color LED displays.

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about revolutions per minute (RPM).

List 5 contexts where this term is commonly used.

__________________________________________________________

Motion Sensor Motor

MIX 4 - Project 2

(Old Cards: MIX4A-02)

About Roll, Pitch and Yaw

An aircraft in ight is free to rotate in three dimensions: pitch, nose up or down about an axis running from wing to wing;

yaw, nose left or right about an axis running up and down; and roll, rotation about an axis running from nose to tail. The

axes are alternatively designated as lateral, vertical, and longitudinal. These axes move with the vehicle and rotate relative

to the Earth along with the craft. These denitions were analogously applied to spacecraft when the rst manned space-

craft were designed in the late 1950s.

These rotations are produced by torques (or moments) about the principal axes. On an aircraft, these are intentionally

produced by means of moving control surfaces, which vary the distribution of the net aerodynamic force about the vehicle’s

center of mass. Elevators (moving aps on the horizontal tail) produce pitch, a rudder on the vertical tail produces yaw,

and ailerons (aps on the wings that move in opposing directions) produce roll. On a spacecraft, the moments are usually

produced by a reaction control system consisting of small rocket thrusters used to apply asymmetrical thrust on the vehicle.

Source: https://en.wikipedia.org/wiki/Aircraft_principal_axes

Yaw Axis

Roll Axis

Pitch Axis

Review of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

Introduction of New Modules

The Motion module is a triple axis accelerometer and gyroscope.

It is capable of measuring on the X, Y & Z axis the:

• Angle

• Acceleration

• Angular velocity

It uses the “I2C” communication protocol and must be connected to and “I2C” port on

mCenter+.

Motion

Motion - Read block

This block reads data from the Motion module. It is capable of retrieving the angle,

acceleration and angular velocity on the X, Y or Z axis.

Angle, acceleration, or

angular velocity to read.

On the X, Y or Z axis.

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

The Problem

How can we control a motor using a motion module?

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use a Motion module to detect the pitch angle. Change the speed and direction of the Motor based on the pitch

angle.

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

1x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

1x Motor - motor to control the speed of.

1x Motion - detect motion.

1x Motor Controller - controls and drives the attached motors.

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use a Motion module to detect the pitch.

Read and store the “X” angle (pitch).

Constrain the value between -90 and 90.

Multiple the value by 2.8 and use that to set the speed of the motor:

• -90 * 2.8 = -252

• 90 * 2.8 = 252

Produces a value between -252 and 252 for speed of the motor.

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Read and store the raw pitch value

from the Motion module

Is the raw pitch

value < -90?

Is the raw pitch

value > 90?

Constrain the value

to -90 and store it

Constrain the value

to 90 and store it

Store the raw value

Set Motor speed based

on constrained value

Short delay

Loop

forever.

True

False

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto the mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect the Motion module to a “I2C” pin.

4. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Read and store the raw pitch value

from the Motion module

Is the raw pitch

value < -90?

Is the raw pitch

value > 90?

Constrain the value

to -90 and store it

Constrain the value

to 90 and store it

Store the raw value

Set Motor speed based

on constrained value

Short delay

Loop

forever.

True

False

The Script Block Locator

Control

Events

mCookie

Data

Operators

Click Green Flag to activate script.

(Create “pitch_raw” and “pitch_constrained”

variables rst in the variable tab.)

Read and store the “X” angle

from the Motion module.

Check if the pitch (raw) value is < -90.

Constrain it to -90.

Check if the pitch (raw) value is > 90.

Constrain it to 90.

If between -90 and 90.

Then accept the raw value.

Set the Motor (1) speed based

on the constrained “X” angle value.

Short delay before looping.

Loop.

Click the green

ag to activate

the script.

1. Rotate the Motion module

along the “X” axis (pitch).

2. The Motor will turn accordingly.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

Project Challenge

Constrain the “X” angle to -20 and 20.

How does the motor react to this new constrained angle?

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Motion - module which detects motion such as roll, paw and yaw.

Motion - Read block - returns various motion readings from the Motion module.

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about roll, pitch and yaw.

Why is this information important to aircrafts?

__________________________________________________________

Motion Sensitive Emoticon

MIX 4 - Project 3

(Old Cards: MIX4A-03)

About Vision Stabilization

The vestibulo-ocular reex (VOR) is a reex, where activation of the vestibular system causes eye movement. This reex

functions to stabilize images on the retinas during head movement by producing eye movements in the direction opposite

to head movement, thus preserving the image on the center of the visual eld(s).

For example, when the head moves to the right, the eyes move to the left, and vice versa. Since slight head movement is

present all the time, the VOR is very important for stabilizing vision: patients whose VOR is impaired nd it dicult to read

using print, because they cannot stabilize the eyes during small head tremors, and also because damage to the VOR can

cause vestibular nystagmus.

Source: https://en.wikipedia.org/wiki/Vestibulo%E2%80%93ocular_reex

Review of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

Review of Modules

The Motion sensor is a triple axis accelerometer and gyroscope.

It is capable of measuring on the X, Y & Z axis the:

• Angle

• Acceleration

• Angular velocity

It uses the “I2C” communication protocol and must be connected to and “I2C” port on

mCenter+.

Motion

Motion - Read block

This block reads data from the Motion module. It is capable of retrieving the angle,

acceleration and angular velocity on the X, Y or Z axis.

Angle, acceleration, or

angular velocity to read.

On the X, Y or Z axis.

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

The Problem

How can we create a motion sensitive Emoticon robot?

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use the Motion module to detect the “X” angle (pitch). Set the eyes (2 Motors) spin speed based on the pitch

value.

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

1x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

2x Motor - motor to simulate the robot’s eyes.

1x Motion - detect motion.

1x Motor Controller - controls and drives the attached motors.

2x Wheel - attach to motor.

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use a Motion module to detect the pitch.

Use 2 Motors (with Wheels) to simulate the robot’s eyes.

Read and store the “X” angle (pitch).

Constrain the value between -20 and 20.

Multiple the value by 5 and use that to set the speed of the motors:

• -20 * 5 = -100

• 20 * 5 = 100

Produces a value between -100 and 100 for speed of the motors.

100

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Read and store the raw pitch value

from the Motion module

Is the raw pitch

value < -20?

Is the raw pitch

value > 20?

Constrain the value

to -20 and store it

Constrain the value

to 20 and store it

Store the raw value

Set Motors speed based

on constrained value

Short delay

Loop

forever.

True

False

101

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Motor to connector “2A2B” on the Motor Controller.

4. Connect the Motion module to a “I2C” pin.

5. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

102

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Read and store the raw pitch value

from the Motion module

Is the raw pitch

value < -20?

Is the raw pitch

value > 20?

Constrain the value

to -20 and store it

Constrain the value

to 20 and store it

Store the raw value

Set Motors speed based

on constrained value

Short delay

Loop

forever.

True

False

103

The Script Block Locator

Control

Events

mCookie

Data

Operators

Click Green Flag to activate script.

Read and store the “X” angle

from the Motion module.

Check if the pitch (raw) value is < -20.

Constrain it to -20.

Check if the pitch (raw) value is > 20.

Constrain it to 20.

If between -20 and 20.

Then accept the raw value.

Set the Motor (1) speed based

on the constrained “X” angle value.

Short delay before looping.

Loop.

Set the Motor (2) speed based

on the constrained “X” angle value.

104

Click the green

ag to activate

the script.

1. Rotate the Motion module along

the “X” axis (pitch).

2. The Motors will turn accordingly.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

105

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

106

Project Challenge

Increase the maximum speed in which the Motors can spin.

Hint: Change the multiplication factor when setting the Motor speeds.

Change the way the motors react to the pitch value to your liking.

(Example, eyes rotating in opposing directions.)

107

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Motion - module which detects motion such as roll, paw and yaw.

Motion - Read block - returns various motion readings from the Motion module.

Wheel - attaches to the Motor.

108

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research other eye reexes such as the “Optokinetic response”.

Why are these reexes important and why do they happen without your direct control?

__________________________________________________________

109

Single-axis Camera Stabilizer

MIX 4 - Project 4

(Old Cards: MIX4A-04)

110

A camera stabilizer, or camera–stabilizing mount, is a device designed to hold a camera in a manner that prevents or com-

pensates for unwanted camera movement, such as “camera shake”.

For small hand-held cameras, a harness or contoured frame steadies the camera against the photographer’s body. In some

models, the camera mount is on an arm that protrudes in front of the photographer; beneath the camera is a handle grip.

Another variation positions the camera atop a fulcrum braced against the photographer’s chest or abdomen.

Source: https://en.wikipedia.org/wiki/Camera_stabilizer

About Camera Stabilizers

111

Review of Modules

A Servo is an actuator which consist of a motor and other electronic components which

allows for precise angle adjustments of the attached horn. The servo included in the kit

has an adjustable angle range between 0 and 180 degrees.

Assembly

Install the Servo into the Servo Block

Connector and fasten with the included

screws.

Servo

+ =

Connectivity

A Servo Connector is required in order to

connect the Servo to the Hub. The Servo

Connector can support up 2 Servos at a time.

First Servo

Second Servo

Servo Servo Connector

31 2

64 5

The top pins correspond to the odd pin on the Connector.

The bottom pins correspond to the even pin on the

Connector.

For example, if the Servo Connector is connected to pin 6/7 on the Hub. The

Servo connected to the top pins would be referenced as pin 7. The Servo con-

nected to the bottom pins would be referenced as pin 6.

Hub Connector Cable

(to Hub)

GND 1/2

VCC IMPORTANT: Ensure

the Servo’s connector

is in the correct orien-

tation. As having the

connector ipped can

damage the servo or

other components.

31 2

64 5

First Servo

Second Servo

GND

(Brown)

VCC

(Red)

Signal Pin

(Orange)

112

Review of Modules

Servo (continued)

Usage

Servo - Set Angle block

The angle, between 0 and 180 degrees, is adjustable using blocks in Scratch.

Calibrating your attachment (the horn) to your desired 0 angle can be done by rst set-

ting the servo to 0 degrees, then attaching the horn as desired.

Servo - Move From-To Angle block

Sets the horn angle of the Servo. Quickly moves (as fast as possible) to the desired angle.

Sets the horn angle from the starting angle to the target angle. This

movement is performed in the specied duration time.

Pin the Servo is

connected to.

Angle to set Servo to.

Pin the Servo is

connected to. Starting angle

of Servo.

Target angle

for Servo.

Time in millisecond to move

from starting angle to target

angle.

113

Review of Modules

The Motion sensor is a triple axis accelerometer and gyroscope.

It is capable of measuring on the X, Y & Z axis the:

• Angle

• Acceleration

• Angular velocity

It uses the “I2C” communication protocol and must be connected to and “I2C” port on

mCenter+.

Motion

Motion - Read block

This block reads data from the Motion module. It is capable of retrieving the angle,

acceleration and angular velocity on the X, Y or Z axis.

Angle, acceleration, or

angular velocity to read.

On the X, Y or Z axis.

114

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

115

The Problem

How can we create a one-axis camera stabilizer?

116

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use the Motion module to detect the current “Y” angle. Stabilize the project using a Servo compensating for the

“Y” angle value.

117

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

2x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

1x Servo - to steady the camera.

1x Servo Connector - connect a Servo to mCenter+.

1x Motion - detect the un-stabilized angle.

118

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use a Motion module to detect the “Y” angle. The Motion module must lay horizontal.

Use a Servo to compensate for the “Y” angle for stabilization.

Read “Y” angle.

Set the Servo to compensate for the “Y” angle by adding 90.

Display the angle the Servo is set to.

119

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Read the "Y" angle

from the Motion module

Set the Servo angle to compensate

for the "Y" angle.

Display the angle

the Servo was set to

Short delay

Loop

forever.

120

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Connect a Servo Connector to pin 6/7 using a Hub Connector Cable.

2. Connect two Servos to the Servo Connector. Ensure the connector is in the correct orientation.

3. Connect the Motion module to a “I2C” pin.

4. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

GND 1/2

VCC IMPORTANT: Ensure

the Servo’s connector

is in the correct orien-

tation. As having the

connector ipped can

damage the servo or

other components.

31 2

64 5

First Servo

Second Servo

GND

(Brown)

VCC

(Red)

Signal Pin

(Orange)

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

121

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Read the "Y" angle

from the Motion module

Set the Servo angle to compensate

for the "Y" angle.

Display the angle

the Servo was set to

Short delay

Loop

forever.

122

The Script Block Locator

Click Green Flag to activate script.

Short delay before looping.

Loop.

Read “Y” angle and

compensate with Servo (pin 6).

Display the Servo angle on the stage.

Control

Events

mCookie

Operators

Arduino

Looks

*** Enable this block under settings (gear icon on

top right). Then select Kit > mCookie Extension.

***

123

Click the green

ag to activate

the script. 1. Rotate the Motion module. 2. The Servo will rotate to

compensate.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Note: If the program is working correctly and you wish to use the program without being connected to your computer. Switch to Arduino mode

(top right), then “Flash Program” (this overrides the special rmware, you will need to reash to use Live mode).

124

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

125

Project Challenge

Add a Color LED to the project.

Use it to indicate when the camera stabilizer is at an extreme angle.

126

Review

Servo - an actuator with precise angle control.

Servo Connector - an adapter to connect a Servo to the Hub on mCenter+.

Servo - Set Angle block - Sets the angle of the Servo. Quickly moves (as fast as possible) to the

desired angle.

Motion - module which detects motion such as roll, paw and yaw.

Motion - Read block - returns various motion readings from the Motion module.

127

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research other things self-stabilize.

What are some very important life saving applications of this principle?

__________________________________________________________

128

Air Bag

MIX 4 - Project 5

(Old Cards: MIX4A-06)

129

An airbag is a type of vehicle safety device and is an occupant restraint system. The airbag module is

designed to inate extremely rapidly, then quickly deate during a collision or impact with a surface or a

rapid sudden deceleration. It consists of the airbag cushion, a exible fabric bag, ination module and im-

pact sensor. The purpose of the airbag is to provide the occupants a soft cushioning and restraint during

a crash event to prevent or reduce any impact or impact-caused injuries between the ailing occupant

and the interior of the vehicle. The airbag also provides an energy absorbing surface between the vehi-

cle’s occupant and a steering wheel, instrumental panel, A-B-C- structural body frame pillars, headliner

and windshield/windscreen.

Source: https://en.wikipedia.org/wiki/Airbag

About Airbags

130

Review of Modules

The Color LED is a LED composed of 3 smaller LEDs which emit red, green, and blue.

Each color’s brightness value can be congured individually. This can produce a wide

variety of colors. It is controlled over a special communication protocol which is dier-

ent from the basic “Digital Output” (used by Single-Color LED).

Usage

Color LED

This block congures what color a particular Color LED

displays.

Hub pin the 1st Color

LED is connected.

Transition from

this color.

Transition to

this color.

Color LED - Color Select block

Color LED - Color Transition block

This block causes a particular Color LED to transition from one

color to another color under a time span. (Note: This block must

complete its transition before proceeding to the next block in the

script.)

Index of the Color

LED to congure.

Color to change

the Color LED to.

Hub pin the 1st Color

LED is connected.

Set duration (in milliseconds)

for the transition.

• The Color LED connected

directly to the Hub is index 0.

• The Color LED connected

next in the chain is index 1.

• And so on.

Indexing

2/3

8/9

I2C A2/A3

I2C

4/5

A6/A7

A0/A1

6/7

IN INOUT OUT

Index of the Color

LED to congure.

ColorLED

Index: 0

ColorLED

Index: 1

131

Review of Modules

The Motion sensor is a triple axis accelerometer and gyroscope.

It is capable of measuring on the X, Y & Z axis the:

• Angle

• Acceleration

• Angular velocity

It uses the “I2C” communication protocol and must be connected to and “I2C” port on

mCenter+.

Motion

Motion - Read block

This block reads data from the Motion module. It is capable of retrieving the angle,

acceleration and angular velocity on the X, Y or Z axis.

Angle, acceleration, or

angular velocity to read.

On the X, Y or Z axis.

132

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

133

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

134

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

135

The Problem

How can we detect large deceleration forces and indicated when detected?

136

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use the Motion module to detect a large deceleration. Use a Color LED to indicate a large deceleration has

occured.

137

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

2x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

1x Motion - to detect large acceleration forces.

1x Color LED - indicate when a large acceleration is detected.

138

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Large deceleration occurs when a sudden stop happens, such as when avoiding a car accident.

Use the Motion module to detect a large negative deceleration (sudden stop).

Use the Color LED to indicate when such force has been detected.

Read the “Y” acceleration. Check if it is a large negative value, which occurs during a sudden stop.

If there is a large value, then ash the Color LED to indicate it has occurred.

139

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Read and store the "Y" acceleration value

from the Motion module

Does the "Y" acceleration

indicate a sudden stop?

(value < -5000)

Flash the Color LED

to indicate a sudden stop

Short delay

Loop

forever.

True

False

140

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Connect the Motion module to a “I2C” pin.

2. Connect a Color LED (IN port) to pin 6/7.

3. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

141

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Read and store the "Y" acceleration value

from the Motion module

Does the "Y" acceleration

indicate a sudden stop?

(value < -5000)

Flash the Color LED

to indicate a sudden stop

Short delay

Loop

forever.

True

False

142

The Script Block Locator

(Create “accel” variable rst in

the variable tab.)

Click Green Flag to activate script.

Read and store the “Y” acceleration

from the Motion module.

Check if there is a large

negative acceleration (sudden stop).

If there is,

ash Color LED (pin 6).

Short delay before looping.

Loop.

Control

Events

mCookie

Data

Operators

143

Click the green

ag to activate

the script.

1. Create a large

negative acceleration

force (sudden stop).

2. When a large negative

acceleration occurs, the

Color LED will ash.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

144

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

145

Project Challenge

Create your own lighting eects when a sudden stop occurs.

How would you detect a large forward acceleration?

Modify the script to indicate when a large forward acceleration occurs.

146

Review

Motion - module which detects motion such as roll, paw and yaw.

Motion - Read block - returns various motion readings from the Motion module.

Color LED - congurable to display a wide range of colors.

Color LED - Color Select block - congures what color a particular Color LED displays.

147

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about the history of airbags.

Besides being in cars, what other places are airbags used?

__________________________________________________________

148

Wired RC Card

MIX 4 - Project 6

(Old Cards: MIX4B-01)

149

Radio controlled (or R/C) cars are battery/gas-powered model cars or trucks that can be controlled from a

distance using a specialized transmitter or remote. The term “R/C” has been used to mean both “remote

controlled” and “radio controlled”, where “remote controlled” includes vehicles that are connected to their

controller by a wire, but common use of “R/C” today usually refers to vehicles controlled by a radio-fre-

quency link. This section focuses on radio-controlled vehicles only.

Source: https://en.wikipedia.org/wiki/Radio-controlled_car

About RC Cars

150

Review of Modules

A Joystick is an input module (sensor)

which can sense if the stick is in the

up, down, left or right positions.

In addition, it can sense if it is being

pressed (pressing directly on stick).

Joystick

Left Right

Down

Press

Usage

The Joystick must be connected to an “Analog Read” compatible pin.

These are the pins prexed with an “A” (pins A0 to A7).

Joystick State block

On the dened Joystick pin, if the stick’s position (up, down, left,

right or center (pressed)) matches the state (released, pressed or

pressing), then this block returns TRUE.

Otherwise, this block returns FALSE.

Pin Joystick is

connected to.

Stick position

to check.

Stick position’s

state to match.

151

Review of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

152

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

153

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

154

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

155

The Problem

How can we create a RC car controllable with a joystick module?

Microduino MIXC104E KIT-mCookie-Education User Manual Part 1

Microduino Inc. KIT-mCookie-Education Part 1

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