Chapter 1 Introduction 1 Hacking Mindstorms 2 Chapter Topics 6 Chapter 2 Project: Plotter Bot 7 Parts List 8 Building the Plotter Bot 9 Program the Plotter Bot 43 Moving the Motors 44 A Simple Program 45 Resetting the X Axis 47 Hacking Opportunities 49 Summary 49 Chapter 3 Hacking LEGO I: Connections 51 Mindstorms Wires Explained 51 Inside the Mindstorms Wire 52 Hacking Mindstorms Wires 53 Exploring Wireless Options 56 Infrared Sensor and Beacon 56 Bluetooth 57 Hacking Wireless 58 Summary 62 Chapter 4 Project: Remote-Controlled Crane 63 Parts List 64 Building the Crane 65 Programming the Crane 93 Controlling the Crane with Infrared 98 Using Your Phone's Commander App 98 Summary 104 Chapter 5 Hacking LEGO II: Alternate Controllers 105 Microcontrollers and Microcomputers 106 Arduino 106 Raspberry Pi 108 BeagleBone Black 110 But Why? 112 Example Projects 114 Book Reader 114 Mini Tank 115 Chocolate Milk Maker 116 Ball Counting Robot 117 Rolling Alarm Robot 118 BeagleBone Black Robot 119 Programing Environments 120 LeJos 121 RobotC 121 Monobrick 121 ev3dev 121 Summary 122 Chapter 6 Project: Robot Flower 123 Robot Flower Mindstorms Build 124 Parts List 124 Steps 125 Program the Robot Flower 146 Substituting the Arduino 150 Quick and Dirty Arduino 151 Parts 152 Steps 153 Programming the Arduino 154 Summary 155 Chapter 7 Hacking LEGO III: Create Your Own LEGO Parts 157 Designing Your Own Parts 158 Check Your Dimensions 159 Create the Design File 160 Output and Iterate 161 Finding Designs 161 Thingiverse 162 LDraw 163 SketchUp Warehouse 163 Outputting Your Own Parts 164 CNC Mill 164 Laser Cutter 167 3D Printer 170 Tip: Parametric 3D Models 175 Summary 176 Chapter 8 Project: Ball Contraption 177 Building the Contraption 178 Parts List 178 Steps 179 Program the Contraption 224 Creating Your Own Parts 225 The Baseplate 226 The Gear 233 Summary 237 Chapter 9 Hacking LEGO IV: Add-on Electronics 239 Motors and Wheels 240 Motor Driver 240 Omni-Wheels 240 8-Channel Servo Controller 241 Hub-ee Wheels 242 Linear Actuator 242 Servo-Actuated Pneumatic Valve 243 Lighting Systems 244 RGB LED Modules 244 Light Strands 245 Sensors 246 Grove Sensor Adapter 246 dGPS 246 Proximity Sensor 247 Pixy and Pixy Adapter 248 Sensor Mux 249 Absolute IMU-ACG 250 dPressure Sensor 251 Thermal Infrared Sensor 252 NXT and Education Electronics 252 Pneumatics Add-On Set 252 NXT Light Sensor 253 NXT Temperature Sensor 253 NXT Sound Sensor 254 NXT Ultrasonic 255 Control Systems 255 Relay Driver 256 sBrick Control System 256 PlayStation Controller Interface 257 NXTBee Wireless Board 258 Summary 258 Chapter 10 Project: Flagpole Climber 259 Building the Flagpole Climber 260 Parts List 260 Building Steps 262 Programming the Pole Climber 288 Installing the Ultrasonic Sensor 289 Programming the Sensor 290 Swapping in the BrickPi 291 Raspberry Pi Quick Start 292 Adding the RPi and BrickPi 292 Parts List 294 Steps 294 Tip: Troubleshooting 301 Summary 302 Glossary 303 TOC, 9780789755384, 10/12/2015 9780789755384_book.indb vi 10/9/15 1:05 PM.