Microduino MIXC104E KIT-mCookie-Education User Manual Part 1

Microduino Inc. KIT-mCookie-Education Part 1

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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
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.
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.
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 operation of your project.
In our projects we use the Arduino ‘Scratch’ editor to construct and execute 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 areas 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
Stage
Palettes &
Panes
Scripts Area
Sprites & Backdrop
Toolbar
The Tool Bar in Scratch provides many useful functions and configuration 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.
Settings - various configuration settings
for Scratch.
• Kit - select a Microduino kit, which
shows enables different blocks.
• Flash firmware - flash the required
firmware 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.
Redo - redo the most recent undo in the project.
Serial Port - select serial port for usage or programming of MIX hardware.
Mode Selection - select different 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.
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.
Green Flag:
When clicked, all “When Green
Flag Click” blocks activates.
Stop Sign:
When clicked, stops all
Scripts that are running.
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 multiple 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. Selecting 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.
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.
Current backdrop.
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 backdrop
from the backdrop library.
Add a new sprite from
the sprite library.
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
Sound pane.
Click to activate Costumes
or Backdrops Pane.
10
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 Backdrop 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 different
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 categorized into different categories.
11
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 instructions that your Sprite or Backdrop follows.
Assemble Scripts by
dragging Blocks into
the Script Area.
Scripts Area:
Assemble your Script for your
currently selected Sprite or
Backdrop.
12
Exercise: “First Steps”
Let’s create your very first project! Let make Corey take its very first steps.
Block Locator
Motion
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 finding the
blocks you need you need quickly. Use it for your convenience!
Assemble Scripts by
dragging Blocks into
the Script Area.
13
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.
14
Types of Blocks
There are different types of Blocks which have different shapes. Each shape has a different 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 flat bottom — this is so you cannot place any blocks below them.
Source: https://wiki.scratch.mit.edu/wiki/Blocks
15
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 different 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.
Costume’s name.
Editing tools.
Costumes for
the currently
selected Sprite.
Add a new
costume for the
currently selected Sprite.
When a Sprite
is selected.
Costume’s
Appearance
16
Exercise: “Second Steps”
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:
Block Locator
Motion
Looks
Control
17
Exercise: “Second Steps”
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.
18
Backdrop Pane
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.
Backdrop’s name.
Editing tools.
Backdrops in the
current project.
When a Backdrop is selected.
Add a new
Backdrop to the
project.
Backdrop’s
Appearance
19
Creating a Backdrop
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 first we need to create a Backdrop of a park.
Add a new backdrop
from the backdrop library.
20
Creating a Backdrop
Select a backdrop for the park.
21
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.
Motion
Once you have created your new Backdrop,
assemble the blocks below:
Looks
1. Click to select Corey.
Control
2. Click to switch to
Switch Pane.
Set to your newly
Created Backdrop.
22
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.
23
Sound Pane
Click to activate
Sound pane.
Sound’s name.
Sound wave
appearance.
List of sounds
for the currently
selected Sprite or
Backdrop.
New sound
creating options.
Editing and
playback tools.
24
Further Learning
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!
Links
•
https://scratch.mit.edu/
25
Hardware Mix 4
26
MIX 4 Kit Contents
Sensors
Trinkets
1x
mCenter+
1x
IR Receiver
1x
Buzzer
1x
OLED
1x
Joystick
1x
Color LED
1x
Motor Controller
4x
Line Finder
2x
Motor
2x
IO Splitter
1x
Motion
2x
Servo
1x
Servo Connector
2x
Potentiometer
1x
Remote Control
1x
Touch Button
2x
Wheel
1x
USB Cable
24x
Hub Connector Cables
Building Blocks
27
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.
28
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.
29
mCookie Series
Microduino’s mCookie series is designed for ease of use. The series is modular, stackable, magnetized, easily connectable and building blocks compatible. It makes assembling a project quick and easy.
Modular
Stackable and Magnetized
Building Block Compatible
30
mCenter+
Is a five-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.
Hub Connectors:
Connect sensors or trinkets
to mCenter+ with a Hub
Connector Cable.
Power Switch: Turn on or off the battery
to supply power to the modules.
Module Pad: Stack
modules to mCenter+.
LED Power Indicator: Indicates if
mCenter is on or off.
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.
31
Embedded Core+ Module
mCenter+ contains an embedded Core+ module. The Core+ module is the brains of your projects. It is a tiny central processing 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.
32
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
different sets of features. Some headers may support a feature, while
another may not.
2/3
6/7
4/5
8/9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
Digital signals produce only a off (LOW) or
on (HIGH) state. There is no “middle” state
between the two.
Analog signals are continuous and feature many “middle” points. They look like
smooth curves.
IIC is a type of serial communication interface. It is more advanced than digital and analog signals. Under IIC, messages
are exchanged and understood between communicating modules. Modules such as the OLED screen, temperature & humidity sensor, real time clock (RTC) module and other modules use
this method of communication.
33
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 configured individually. This can produce a wide
variety of colors. It is controlled over a special communication protocol which is different from the basic “Digital Output” (used by Single-Color LED).
Indexing
2/3
6/7
4/5
8/9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
Usage
Hub pin the 1st Color
LED is connected.
Index of the Color
LED to configure.
Hub pin the 1st Color
LED is connected.
Index of the Color
LED to configure.
Color to change
the Color LED to.
Transition to
this color.
Transition from
this color.
•
IN
OUT
ColorLED
Index: 0
IN
OUT
ColorLED
Index: 1
•
•
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.
Color LED - Color Select block
This block configures what color a particular Color LED
displays.
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.)
Set duration (in milliseconds)
for the transition.
34
Potentiometer
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 different 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.
1023
35
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 Controller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the
Motor.
Motor Controller
Motor - Set Speed block
Motor to configure.
Motor - Brake block
Speed to set.
Wheel
This block sets the speed of the motor. Positive values turns the Motor in one direction. 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 clockwise speed. -255 is maximum counter-clockwise speed.
This block sets the speed to 0 to stop the Motor.
Motor to configure.
36
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.
37
Servo
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 - Set Angle block
Pin the Servo is
connected to.
Sets the angle of the Servo. Quickly moves (as fast as possible) to the desired angle.
Angle to set Servo to.
Servo - Move From-To Angle block
Pin the Servo is
connected to.
Starting angle
of Servo.
Target angle
for Servo.
Sets the angle from the starting angle to the target angle. This movement is performed in the specified duration time.
Time in millisecond to move
from starting angle to target
angle.
38
Joystick
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).
Up
Left
Right
Press
Down
Usage
The Joystick must be connected to an “Analog Read” compatible pin.
These are the pins prefixed with an “A” (pins A0 to A7).
Joystick State block
On the defined 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.
Pin Joystick is
connected to.
Stick position
to check.
Stick position’s
state to match.
Otherwise, this block returns FALSE.
39
Line Finder
The Line Finder module is able to detect reflectivity or gray level of a surface. In general, darker or less reflective surfaces produces a higher value. While a lighter or more
reflective surface produces a lower value. It must be connected to a pin with an
“A” prefix (A0/A1, A2/A3, A6/A7).
Surface Reflectivity
Lighter,
more reflective surfaces.
Analog Read block
Darker,
less reflective surfaces.
Value Returned
1023
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.
40
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.
Stack modules,
ensure gold pins align.
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.
Sensor, Trinket, or other module
Hub Connector Cable
mCenter+’s Hub
41
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.
Select Live Mode here.
Live Mode
Select Arduino Mode here.
Arduino Mode
42
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 modules included in the MIX Kit. You must upload a special firmware 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.
43
Live Mode
A firmware is a program that runs on the Core module. Live Mode requires a special firmware to be upload onto the Core
module. This special firmware allows the Core module to perform commands sent from your computer in real time.
Uploading this special firmware only needs to be done once, unless it is overwritten with another firmware (such as when
using Arduino mode).
Computer send or receives
commands with mCenter+ over
USB.
mCenter+ acts as a communication bridge with the Computer and the embedded Core+
module.
Core+ module receives or sends
commands with mCenter+.
44
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 firmware.
• Under Settings select Flash firmware and select mCookie to upload the special firmware. Uploading will start.
• Select the port mCenter+ is connected to again to begin using Scratch with MIX hardware.
Select Serial Port.
Flash firmware
45
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.
Select Arduino Mode here.
mCenter+ runs its own program without
needing to be connected to a Computer.
46
Revolutions Indicator
MIX4 - Project 1
(Old Cards: MIX4A-01)
47
About Revolutions Per Minutes (RPM)
Revolutions per minute (abbreviated rpm, RPM, rev/min, r/min) is a measure of the frequency of rotation,
specifically the number of rotations around a fixed axis in one minute. It is used as a measure of rotational speed of a mechanical component.
Source: https://en.wikipedia.org/wiki/Revolutions_per_minute
48
Review of Modules
mCenter+
Is a five-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.
49
Review of Modules
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 configured individually. This can produce a wide
variety of colors. It is controlled over a special communication protocol which is different from the basic “Digital Output” (used by Single-Color LED).
Indexing
2/3
4/5
8/9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
Usage
Hub pin the 1st Color
LED is connected.
Index of the Color
LED to configure.
Hub pin the 1st Color
LED is connected.
Index of the Color
LED to configure.
Color to change
the Color LED to.
Transition to
this color.
Transition from
this color.
•
6/7
IN
OUT
ColorLED
Index: 0
IN
OUT
ColorLED
Index: 1
•
•
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.
Color LED - Color Select block
This block configures what color a particular Color LED
displays.
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.)
Set duration (in milliseconds)
for the transition.
50
Review of Modules
Potentiometer
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 different 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.
1023
51
Introduction of New Modules
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 Controller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the
Motor.
Motor Controller
Motor - Set Speed block
Motor to configure.
Motor - Brake block
Speed to set.
Wheel
This block sets the speed of the motor. Positive values turns the Motor in one direction. 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 clockwise speed. -255 is maximum counter-clockwise speed.
This block sets the speed to 0 to stop the Motor.
Motor to configure.
52
Review of Blocks
Addition Block
This block returns the sum of the left input and right input.
Subtraction Block
This block returns the value of subtracting the left input by the right input.
Multiplication Block
This block returns the product of the left input and right input.
Division Block
This block returns the value of dividing 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.
53
Review of Concepts
Creating a Variable in Scratch
Click on the “Variable” category.
Then click on the “Create variable...” button.
Name your variable.
54
Review of Concepts
Creating a Variable in Scratch (continued)
Several new blocks will appear which allows
access and modification of the new variable.
Variable Value block
This block returns the current value of the variable.
Variable Set block
This block sets the value of the variable. It will overwrite the current value.
Variable Change block
This block changes the variable value by adding the input value (negative values or blocks are accepted).
input value
55
The Problem
How can we create a motor controller with a revolutions indicator?
56
Project Worksheet
Complete the worksheet below to your best abilities.
1. A solution.
Use a Potentiometer to control the speed of the Motor. Use a Color LED to indicate the revolutions per minute.
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 flow chart of the solution.
5. How do you assemble and connect the modules for the solution?
6. Configure blocks to relate to the flow chart.
57
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
USB Cable - connect mCenter+ to a computer for charging and programming the project.
2x
Hub Connector Cable - connect sensors and trinkets to the mCenter+.
1x
Motor Controller - controls and drives the attached motors.
1x
Motor - motor to control the speed of.
1x
Potentiometer - used as an input to control the speed of the motor.
1x
Color LED - indicate the revolutions per minute of the motor.
58
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).
59
Project Worksheet - Answers
4. Create a flow chart of the solution.
Start
Read and store the
Potentiometer value
Loop
forever.
Scale the Color LED brightness based
on the Potentiometer value
Scale the Motor speed based
on the Potentiometer value
Short delay
60
Project Worksheet - Answers
5. How do you assemble and connect the modules for the solution?
1.
2.
3.
4.
5.
D2/D3
D6/D7
D4/D5
D8/D9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
Stack the Motor Controller onto the mCenter+.
Connect a Motor to connector “1A1B” on the Motor Controller.
Connect a Color LED (IN port) to pin 4/5.
Connect a Potentiometer to pin A0/A1.
Insert one end of the USB cable into mCenter+ and connect the other to a computer.
61
Project Worksheet - Answers
6. Configure blocks to relate to the flow chart.
Start
Read and store the
Potentiometer value
Loop
forever.
Scale the Color LED brightness based
on the Potentiometer value
Scale the Motor speed based
on the Potentiometer value
Short delay
62
The Script
Block Locator
Events
Control
Operators
Click Green Flag to activate script.
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.
(Create “input” variable first in
the variable tab.)
Data
Arduino
mCookie
63
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 flashed the
special firmware (mCookie) first before testing (this only
needs to be done once unless the firmware is overwritten).
• Ensure you have selected the Serial Port and connected
before testing.
Select Serial Port
Flash firmware
Testing:
Click the green
flag to activate
the script.
The Motor and Color LED
will react to the position of
the Potentiometer.
1. Rotate the Potentiometer to
adjust the speed of the Motor.
64
Create a Structure
Create a structure for the project using building blocks, paper, or other crafting materials.
65
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.
66
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 - configurable to display a wide range of colors.
Color LED - Color Select block - configures what color a particular Color LED displays.
67
Expanding the Project
Write down a way of expanding this project. Create it on your own.
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
Research
Research more about revolutions per minute (RPM).
List 5 contexts where this term is commonly used.
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
68
Motion Sensor Motor
MIX 4 - Project 2
(Old Cards: MIX4A-02)
69
About Roll, Pitch and Yaw
An aircraft in flight 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 definitions were analogously applied to spacecraft when the first manned spacecraft 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 flaps on the horizontal tail) produce pitch, a rudder on the vertical tail produces yaw,
and ailerons (flaps 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.
Pitch Axis
Roll Axis
Source: https://en.wikipedia.org/wiki/Aircraft_principal_axes
Yaw Axis
70
Review of Modules
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 Controller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the
Motor.
Motor Controller
Motor - Set Speed block
Motor to configure.
Motor - Brake block
Speed to set.
Wheel
This block sets the speed of the motor. Positive values turns the Motor in one direction. 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 clockwise speed. -255 is maximum counter-clockwise speed.
This block sets the speed to 0 to stop the Motor.
Motor to configure.
71
Introduction of New Modules
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.
72
Review of Blocks
Addition Block
This block returns the sum of the left input and right input.
Subtraction Block
This block returns the value of subtracting the left input by the right input.
Multiplication Block
This block returns the product of the left input and right input.
Division Block
This block returns the value of dividing 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.
73
Review of Concepts
Creating a Variable in Scratch
Click on the “Variable” category.
Then click on the “Create variable...” button.
Name your variable.
74
Review of Concepts
Creating a Variable in Scratch (continued)
Several new blocks will appear which allows
access and modification of the new variable.
Variable Value block
This block returns the current value of the variable.
Variable Set block
This block sets the value of the variable. It will overwrite the current value.
Variable Change block
This block changes the variable value by adding the input value (negative values or blocks are accepted).
input value
75
The Problem
How can we control a motor using a motion module?
76
Project Worksheet
Complete the worksheet below to your best abilities.
1. A solution.
Use a Motion module to detect the pitch angle. Change the speed and direction of the Motor based on the pitch
angle.
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 flow chart of the solution.
5. How do you assemble and connect the modules for the solution?
6. Configure blocks to relate to the flow chart.
77
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
USB Cable - connect mCenter+ to a computer for charging and programming the project.
1x
Hub Connector Cable - connect sensors and trinkets to the mCenter+.
1x
Motor Controller - controls and drives the attached motors.
1x
Motor - motor to control the speed of.
1x
Motion - detect motion.
78
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.
79
Project Worksheet - Answers
4. Create a flow chart of the solution.
Start
Read and store the raw pitch value
from the Motion module
Is the raw pitch
value < -90?
True
Constrain the value
to -90 and store it
True
Constrain the value
to 90 and store it
False
Loop
forever.
Is the raw pitch
value > 90?
False
Store the raw value
Set Motor speed based
on constrained value
Short delay
80
Project Worksheet - Answers
5. How do you assemble and connect the modules for the solution?
1.
2.
3.
4.
D2/D3
D6/D7
D4/D5
D8/D9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
Stack the Motor Controller onto the mCenter+.
Connect a Motor to connector “1A1B” on the Motor Controller.
Connect the Motion module to a “I2C” pin.
Insert one end of the USB cable into mCenter+ and connect the other to a computer.
81
Project Worksheet - Answers
6. Configure blocks to relate to the flow chart.
Start
Read and store the raw pitch value
from the Motion module
Is the raw pitch
value < -90?
True
Constrain the value
to -90 and store it
True
Constrain the value
to 90 and store it
False
Loop
forever.
Is the raw pitch
value > 90?
False
Store the raw value
Set Motor speed based
on constrained value
Short delay
82
The Script
Block Locator
Click Green Flag to activate script.
(Create “pitch_raw” and “pitch_constrained”
variables first in the variable tab.)
Events
Control
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.
Operators
Data
Constrain it to 90.
mCookie
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.
83
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 flashed the
special firmware (mCookie) first before testing (this only
needs to be done once unless the firmware is overwritten).
• Ensure you have selected the Serial Port and connected
before testing.
Select Serial Port
Flash firmware
Testing:
Click the green
flag to activate
the script.
1. Rotate the Motion module
along the “X” axis (pitch).
2. The Motor will turn accordingly.
84
Create a Structure
Create a structure for the project using building blocks, paper, or other crafting materials.
85
Project Challenge
Constrain the “X” angle to -20 and 20.
How does the motor react to this new constrained angle?
86
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.
87
Expanding the Project
Write down a way of expanding this project. Create it on your own.
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
Research
Research more about roll, pitch and yaw.
Why is this information important to aircrafts?
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
88
Motion Sensitive Emoticon
MIX 4 - Project 3
(Old Cards: MIX4A-03)
89
About Vision Stabilization
The vestibulo-ocular reflex (VOR) is a reflex, where activation of the vestibular system causes eye movement. This reflex
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 field(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 find it difficult 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_reflex
90
Review of Modules
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 Controller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the
Motor.
Motor Controller
Motor - Set Speed block
Motor to configure.
Motor - Brake block
Speed to set.
Wheel
This block sets the speed of the motor. Positive values turns the Motor in one direction. 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 clockwise speed. -255 is maximum counter-clockwise speed.
This block sets the speed to 0 to stop the Motor.
Motor to configure.
91
Review of Modules
Motion
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 - 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.
92
Review of Blocks
Addition Block
This block returns the sum of the left input and right input.
Subtraction Block
This block returns the value of subtracting the left input by the right input.
Multiplication Block
This block returns the product of the left input and right input.
Division Block
This block returns the value of dividing 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.
93
Review of Concepts
Creating a Variable in Scratch
Click on the “Variable” category.
Then click on the “Create variable...” button.
Name your variable.
94
Review of Concepts
Creating a Variable in Scratch (continued)
Several new blocks will appear which allows
access and modification of the new variable.
Variable Value block
This block returns the current value of the variable.
Variable Set block
This block sets the value of the variable. It will overwrite the current value.
Variable Change block
This block changes the variable value by adding the input value (negative values or blocks are accepted).
input value
95
The Problem
How can we create a motion sensitive Emoticon robot?
96
Project Worksheet
Complete the worksheet below to your best abilities.
1. A solution.
Use the Motion module to detect the “X” angle (pitch). Set the eyes (2 Motors) spin speed based on the pitch
value.
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 flow chart of the solution.
5. How do you assemble and connect the modules for the solution?
6. Configure blocks to relate to the flow chart.
97
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
USB Cable - connect mCenter+ to a computer for charging and programming the project.
1x
Hub Connector Cable - connect sensors and trinkets to the mCenter+.
1x
Motor Controller - controls and drives the attached motors.
2x
Motor - motor to simulate the robot’s eyes.
2x
Wheel - attach to motor.
1x
Motion - detect motion.
98
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.
99
Project Worksheet - Answers
4. Create a flow chart of the solution.
Start
Read and store the raw pitch value
from the Motion module
Is the raw pitch
value < -20?
True
Constrain the value
to -20 and store it
True
Constrain the value
to 20 and store it
False
Loop
forever.
Is the raw pitch
value > 20?
False
Store the raw value
Set Motors speed based
on constrained value
Short delay
100
Project Worksheet - Answers
5. How do you assemble and connect the modules for the solution?
1.
2.
3.
4.
5.
D2/D3
D6/D7
D4/D5
D8/D9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
Stack the Motor Controller onto mCenter+.
Connect a Motor to connector “1A1B” on the Motor Controller.
Connect a Motor to connector “2A2B” on the Motor Controller.
Connect the Motion module to a “I2C” pin.
Insert one end of the USB cable into mCenter+ and connect the other to a computer.
101
Project Worksheet - Answers
6. Configure blocks to relate to the flow chart.
Start
Read and store the raw pitch value
from the Motion module
Is the raw pitch
value < -20?
True
Constrain the value
to -20 and store it
True
Constrain the value
to 20 and store it
False
Loop
forever.
Is the raw pitch
value > 20?
False
Store the raw value
Set Motors speed based
on constrained value
Short delay
102
The Script
Block Locator
Click Green Flag to activate script.
Events
Control
Read and store the “X” angle
from the Motion module.
Check if the pitch (raw) value is < -20.
Constrain it to -20.
Operators
Check if the pitch (raw) value is > 20.
Constrain it to 20.
If between -20 and 20.
Then accept the raw value.
Data
mCookie
Set the Motor (1) speed based
on the constrained “X” angle value.
Set the Motor (2) speed based
on the constrained “X” angle value.
Short delay before looping.
Loop.
103
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 flashed the
special firmware (mCookie) first before testing (this only
needs to be done once unless the firmware is overwritten).
• Ensure you have selected the Serial Port and connected
before testing.
Select Serial Port
Flash firmware
Testing:
Click the green
flag to activate
the script.
1. Rotate the Motion module along
the “X” axis (pitch).
2. The Motors will turn accordingly.
104
Create a Structure
Create a structure for the project using building blocks, paper, or other crafting materials.
105
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.)
106
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.
Wheel - attaches to the Motor.
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.
107
Expanding the Project
Write down a way of expanding this project. Create it on your own.
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
Research
Research other eye reflexes such as the “Optokinetic response”.
Why are these reflexes important and why do they happen without your direct control?
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
108
Single-axis Camera Stabilizer
MIX 4 - Project 4
(Old Cards: MIX4A-04)
109
About Camera Stabilizers
A camera stabilizer, or camera–stabilizing mount, is a device designed to hold a camera in a manner that prevents or compensates 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
110
Review of Modules
Servo
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.
Connectivity
The top pins correspond to the odd pin on the Connector.
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
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 connected to the bottom pins would be referenced as pin 6.
GND VCC
Servo
Servo Connector
1/2
First Servo
Second Servo
Hub Connector Cable
(to Hub)
Signal Pin
(Orange)
GND
IMPORTANT: Ensure
(Brown) the Servo’s connector
is in the correct orien1 2 3
tation. As having the
connector flipped can
4 5 6
damage the servo or
VCC
other components.
(Red)
111
Review of Modules
Servo (continued)
Usage
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 first setting the servo to 0 degrees, then attaching the horn as desired.
Servo - Set Angle block
Pin the Servo is
connected to.
Sets the horn angle of the Servo. Quickly moves (as fast as possible) to the desired angle.
Angle to set Servo to.
Servo - Move From-To Angle block
Pin the Servo is
connected to.
Starting angle
of Servo.
Target angle
for Servo.
Sets the horn angle from the starting angle to the target angle. This
movement is performed in the specified duration time.
Time in millisecond to move
from starting angle to target
angle.
112
Review of Modules
Motion
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 - 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.
113
Review of Blocks
Addition Block
This block returns the sum of the left input and right input.
Subtraction Block
This block returns the value of subtracting the left input by the right input.
Multiplication Block
This block returns the product of the left input and right input.
Division Block
This block returns the value of dividing 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.
114
The Problem
How can we create a one-axis camera stabilizer?
115
Project Worksheet
Complete the worksheet below to your best abilities.
1. A solution.
Use the Motion module to detect the current “Y” angle. Stabilize the project using a Servo compensating for the
“Y” angle value.
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 flow chart of the solution.
5. How do you assemble and connect the modules for the solution?
6. Configure blocks to relate to the flow chart.
116
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
USB Cable - connect mCenter+ to a computer for charging and programming the project.
2x
Hub Connector Cable - connect sensors and trinkets to the mCenter+.
1x
Servo Connector - connect a Servo to mCenter+.
1x
Servo - to steady the camera.
1x
Motion - detect the un-stabilized angle.
117
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.
118
Project Worksheet - Answers
4. Create a flow chart of the solution.
Start
Read the "Y" angle
from the Motion module
Set the Servo angle to compensate
for the "Y" angle.
Loop
forever.
Display the angle
the Servo was set to
Short delay
119
Project Worksheet - Answers
5. How do you assemble and connect the modules for the solution?
1.
2.
3.
4.
D2/D3
D6/D7
D4/D5
D8/D9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
GND VCC
1/2
First Servo
Second Servo
Signal Pin
(Orange)
GND
IMPORTANT: Ensure
(Brown) the Servo’s connector
is in the correct orien1 2 3
tation. As having the
connector flipped can
4 5 6
damage the servo or
VCC
other components.
(Red)
Connect a Servo Connector to pin 6/7 using a Hub Connector Cable.
Connect two Servos to the Servo Connector. Ensure the connector is in the correct orientation.
Connect the Motion module to a “I2C” pin.
Insert one end of the USB cable into mCenter+ and connect the other to a computer.
120
Project Worksheet - Answers
6. Configure blocks to relate to the flow chart.
Start
Read the "Y" angle
from the Motion module
Set the Servo angle to compensate
for the "Y" angle.
Loop
forever.
Display the angle
the Servo was set to
Short delay
121
The Script
Block Locator
Looks
Events
Control
Click Green Flag to activate script.
Read “Y” angle and
compensate with Servo (pin 6).
Display the Servo angle on the stage.
Operators
Arduino
***
mCookie
Short delay before looping.
Loop.
*** Enable this block under settings (gear icon on
top right). Then select Kit > mCookie Extension.
122
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 flashed the
special firmware (mCookie) first before testing (this only
needs to be done once unless the firmware is overwritten).
• Ensure you have selected the Serial Port and connected
before testing.
Select Serial Port
Flash firmware
Testing:
Click the green
flag to activate
the script.
1. Rotate the Motion module.
2. The Servo will rotate to
compensate.
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 firmware, you will need to reflash to use Live mode).
123
Create a Structure
Create a structure for the project using building blocks, paper, or other crafting materials.
124
Project Challenge
Add a Color LED to the project.
Use it to indicate when the camera stabilizer is at an extreme angle.
125
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.
126
Expanding the Project
Write down a way of expanding this project. Create it on your own.
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
Research
Research other things self-stabilize.
What are some very important life saving applications of this principle?
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
127
Air Bag
MIX 4 - Project 5
(Old Cards: MIX4A-06)
128
About Airbags
An airbag is a type of vehicle safety device and is an occupant restraint system. The airbag module is
designed to inflate extremely rapidly, then quickly deflate during a collision or impact with a surface or a
rapid sudden deceleration. It consists of the airbag cushion, a flexible fabric bag, inflation module and impact 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 flailing occupant
and the interior of the vehicle. The airbag also provides an energy absorbing surface between the vehicle’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
129
Review of Modules
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 configured individually. This can produce a wide
variety of colors. It is controlled over a special communication protocol which is different from the basic “Digital Output” (used by Single-Color LED).
Indexing
2/3
4/5
8/9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
Usage
Hub pin the 1st Color
LED is connected.
Index of the Color
LED to configure.
Hub pin the 1st Color
LED is connected.
Index of the Color
LED to configure.
Color to change
the Color LED to.
Transition to
this color.
Transition from
this color.
•
6/7
IN
OUT
ColorLED
Index: 0
IN
OUT
ColorLED
Index: 1
•
•
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.
Color LED - Color Select block
This block configures what color a particular Color LED
displays.
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.)
Set duration (in milliseconds)
for the transition.
130
Review of Modules
Motion
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 - 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.
131
Review of Blocks
Addition Block
This block returns the sum of the left input and right input.
Subtraction Block
This block returns the value of subtracting the left input by the right input.
Multiplication Block
This block returns the product of the left input and right input.
Division Block
This block returns the value of dividing 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.
132
Review of Concepts
Creating a Variable in Scratch
Click on the “Variable” category.
Then click on the “Create variable...” button.
Name your variable.
133
Review of Concepts
Creating a Variable in Scratch (continued)
Several new blocks will appear which allows
access and modification of the new variable.
Variable Value block
This block returns the current value of the variable.
Variable Set block
This block sets the value of the variable. It will overwrite the current value.
Variable Change block
This block changes the variable value by adding the input value (negative values or blocks are accepted).
input value
134
The Problem
How can we detect large deceleration forces and indicated when detected?
135
Project Worksheet
Complete the worksheet below to your best abilities.
1. A solution.
Use the Motion module to detect a large deceleration. Use a Color LED to indicate a large deceleration has
occured.
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 flow chart of the solution.
5. How do you assemble and connect the modules for the solution?
6. Configure blocks to relate to the flow chart.
136
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
USB Cable - connect mCenter+ to a computer for charging and programming the project.
2x
Hub Connector Cable - connect sensors and trinkets to the mCenter+.
1x
Motion - to detect large acceleration forces.
1x
Color LED - indicate when a large acceleration is detected.
137
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 flash the Color LED to indicate it has occurred.
138
Project Worksheet - Answers
4. Create a flow chart of the solution.
Start
Read and store the "Y" acceleration value
from the Motion module
Loop
forever.
Does the "Y" acceleration
indicate a sudden stop?
(value < -5000)
True
Flash the Color LED
to indicate a sudden stop
False
Short delay
139
Project Worksheet - Answers
5. How do you assemble and connect the modules for the solution?
D2/D3
D6/D7
D4/D5
D8/D9
I2C
A6/A7
I2C
A2/A3
I2C
A0/A1
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.
140
Project Worksheet - Answers
6. Configure blocks to relate to the flow chart.
Start
Read and store the "Y" acceleration value
from the Motion module
Loop
forever.
Does the "Y" acceleration
indicate a sudden stop?
(value < -5000)
True
Flash the Color LED
to indicate a sudden stop
False
Short delay
141
The Script
Block Locator
Events
Control
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,
flash Color LED (pin 6).
(Create “accel” variable first in
the variable tab.)
Operators
Data
mCookie
Short delay before looping.
Loop.
142
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 flashed the
special firmware (mCookie) first before testing (this only
needs to be done once unless the firmware is overwritten).
• Ensure you have selected the Serial Port and connected
before testing.
Select Serial Port
Flash firmware
Testing:
Click the green
flag to activate
the script.
1. Create a large
negative acceleration
force (sudden stop).
2. When a large negative
acceleration occurs, the
Color LED will flash.
143
Create a Structure
Create a structure for the project using building blocks, paper, or other crafting materials.
144
Project Challenge
Create your own lighting effects when a sudden stop occurs.
How would you detect a large forward acceleration?
Modify the script to indicate when a large forward acceleration occurs.
145
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 - configurable to display a wide range of colors.
Color LED - Color Select block - configures what color a particular Color LED displays.
146
Expanding the Project
Write down a way of expanding this project. Create it on your own.
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
Research
Research more about the history of airbags.
Besides being in cars, what other places are airbags used?
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
__________________________________________________________
147
Wired RC Card
MIX 4 - Project 6
(Old Cards: MIX4B-01)
148
About RC Cars
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-frequency link. This section focuses on radio-controlled vehicles only.
Source: https://en.wikipedia.org/wiki/Radio-controlled_car
149
Review of Modules
Joystick
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).
Up
Left
Right
Press
Down
Usage
The Joystick must be connected to an “Analog Read” compatible pin.
These are the pins prefixed with an “A” (pins A0 to A7).
Joystick State block
On the defined 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.
Pin Joystick is
connected to.
Stick position
to check.
Stick position’s
state to match.
Otherwise, this block returns FALSE.
150
Review of Modules
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 Controller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the
Motor.
Motor Controller
Motor - Set Speed block
Motor to configure.
Motor - Brake block
Speed to set.
Wheel
This block sets the speed of the motor. Positive values turns the Motor in one direction. 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 clockwise speed. -255 is maximum counter-clockwise speed.
This block sets the speed to 0 to stop the Motor.
Motor to configure.
151
Review of Blocks
Addition Block
This block returns the sum of the left input and right input.
Subtraction Block
This block returns the value of subtracting the left input by the right input.
Multiplication Block
This block returns the product of the left input and right input.
Division Block
This block returns the value of dividing 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.
152
Review of Concepts
Creating a Variable in Scratch
Click on the “Variable” category.
Then click on the “Create variable...” button.
Name your variable.
153
Review of Concepts
Creating a Variable in Scratch (continued)
Several new blocks will appear which allows
access and modification of the new variable.
Variable Value block
This block returns the current value of the variable.
Variable Set block
This block sets the value of the variable. It will overwrite the current value.
Variable Change block
This block changes the variable value by adding the input value (negative values or blocks are accepted).
input value
154
The Problem
How can we create a RC car controllable with a joystick module?
155
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