====== Mindstorms Kit ======

===== Kit information =====

  * Min. age: 7 yo.
  * Measurements: 380x380x110 mm.
  * Weight: 2,3 kg.
  * Power source: 6 AA batteries.


===== Kit's elements =====


  * [[#nxt brick|'Brick']] - NXT 'Brick' with 32-bit processor,
  * 3 [[#servomotors|servomotors]] with embedded rotation sensor,
  * [[#sound sensor|sound sensor]],
  * [[#ultrasonic sensor|ultrasonic sensor]],
  * [[#touch sensor|touch sensor]],
  * [[#light sensor|light sensor]],
  * 577 LEGO TECHNICS blocks,
  * [[mindstorms:programming|programming environment]],
  * manuals,
  * [[#testpad|testpad]],
  * cables.



===== Elements' description =====
==== NXT Brick ====

NXT Brick is the hearth of Mindstorms robot.
Because of it, the communication with robot, programming and controlling is possible.

=== NXT Brick elements ===
  * 32-bit ARM7 Mikrocontroler,
  * 256 Kb FLASH, 64 Kb RAM,
  * 8-bit AVR Microcontroller,
  * 4 Kb FLASH, 512 B RAM,
  * Servomotors' ports: A, B, C,
  * Sensors' ports: 1, 2, 3, 4,
  * USB port (12 Mbit/s),
  * 8 kHz speaker, 8-bit channel, sample rate 2-16 KHz,
  * Buttons (menu service),
  * LCD display, 100 x 64 px,
  * Bluetooth wireless communication (Bluetooth Class II V2.0 compliant),
  * 6 AA batteries.

== Links ==
  * http://mindstorms.lego.com/Overview/The_NXT.aspx

=== Communication with Brick ===

Communication with Brick is possible with:

  * USB,
  * Bluetooth.

With both methods it is possible to:
  * load Brick programs,
  * download data (eg. data collected by robot) from Brick.

== Links ==
  * [[http://www.extremenxt.com/vbfront.htm|NXT Bluetooth]]

==== Servomotors ====

In each kit there are 3 servomotors:
  * useful to control revs,
  * with revenue sensors, useful to precise tracking of propeller shaft position.

== Links ==
  * [[http://mindstorms.lego.com/Overview/Interactive_Servo_Motors.aspx|NXT Servomotors]]
  * [[http://www.philohome.com/nxtmotor/nxtmotor.htm|detailed construction and characteristic of servomotor]]

==== Sensors ====

=== Sound sensor ===
Sound sensor is a microphone with possibility of sound intensity measurement, which:
  * returns sound intensity in [dB] and in [dBA],
  * has a range of up to 90 dB,
  * determines percentage scale of sound intensity.

== Links ==
  * http://mindstorms.lego.com/Overview/Sound_Sensor.aspx

=== Ultrasonic sensor ===
Ultrasonic sensor can be used:
  * to measure distance from barrier (cm and inches),
  * to detect objects,
  * to detect movement.

Range: 0-255 cm.
Precision +/- 3 cm.

How it works? \\
Distance is calculated on the basis of time of sound wave return to robot after barrier bounce. (The same rule is used by bats and sonars.)

Notices:
  * If there are more then 1 ultrasonic sensor in the same room, there can exist some interferences and the sensor can work incorrect.
  * Curved surfaces (eg. spheres) are difficult to detect.

== Links ==
  * http://mindstorms.lego.com/Overview/Ultrasonic_Sensor.aspx

=== Touch sensor ===

Touch sensor detects touches with the orange button, which can differentiate 3 states of touch:
    * pressed,
    * bumped,
    * released.
	
In addition 3 buttons on NXT Brick (left, right, center) can be set as touch detectors.

== Links ==
  * http://mindstorms.lego.com/Overview/Touch_Sensor.aspx


=== Light sensor ===
Light sensor:
  * is useful to differentiate lightness and darkness,
  * returns the light intensity,
  * measures the light intensity reflected from colorful surfaces (indirect color detection).

== Links ==
  * http://mindstorms.lego.com/Overview/Light_Sensor.aspx


==== Testpad ====

  * Dimensions: 90 cm x 60 cm.
  * Used for testing robots.
  * Content:
    * colorful fields to calibrate color sensor,
    * area limited by black line to test robots moving inside,
    * ruler to check indications of distance sensors,
    * field to analyze robot's rotation.

==== Combining components ====

Motors used for movement should be connected to B and C ports. Motor used for an extra function – to A port.
Standard input port connections (can be different):
  * Port 1: touch sensor.
  * Port 2: sound sensor.
  * Port 3: light sensor.
  * Port 4: ultrasonic sensor.

===== More about kit =====

  * [[http://mindstorms.lego.com/Overview/The_NXT.aspx|LEGO NXT Overview]]
  * [[http://en.wikipedia.org/wiki/Lego_Mindstorms_NXT|NXT at Wikipedia]]
  * [[http://www.philohome.com/nxt.htm]]