Tilted Twister - Old version

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Download Bricx Command Center - A development environment that you can easily use to program and animate Lego Mindstorms robots using a large set of intuitive tools.

LEGO Mindstorms NXT 1.0 (8527).

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Getting started

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Run the calibration program.

Run the tiltedtwister program. Youshould use an unscrambled cube the first time you run the program. Theprogram should calculate a solution of zero moves. If not, abort theprogram and adjust what needs to be adjusted.

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Scramble the cube and let Tilted Twister solve it.

Building instructions

tiltedtwister.pdf

Cut out a piece of thin cardboard 70 x 70 mm and cut out the corners 8 x 15 mm.
Placeit on the turntable so that the cube rests on a flat surface. It'simportant that the cube slides easily on the surface when tilted.

Connect the wiring as follows:
1 - Touch sensor
2 - Light sensor or HiTechnic color sensor
3 - Ultrasonic sensor
A - Turntable motor
B - Tilter arm motor
C - Light/color sensor motor

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Unfortunately the yellow and the white colors of a standard Rubik's cube gives the same readings from the light sensor.
Ifyou don't have a color sensor you have to replace some of the colors ofthe cube. Cubesmith.com has replacement stickers in all sorts of colors.
Onmy cube, I have replaced yellow with flourescent yellow, blue withlight blue and orange with gold mylar, I have also replaced the whiterubik's cube logo sticker with a plain white sticker.
You could try using other colors as long as the light sensor readings differentiates.
Use the colortest program to try out different colors. Use the cube tester program to verify a cube.

Important

The position of the light/colorsensor is crucial. If it's too close to the cube's surface the readingsmay be inaccurate. It is possible to adjust the height position of thesensor by gently bending up the sensor arm. It should be approx 3mmabove the top of the cube.

The gap of the grabber must not be too tight around the cube. Otherwise it will drag the cube back with it.

If your cube is stiff, you could lubricate it with silicone spray. After lubrication you must work the cube for a few minutes.

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Make sure the turntable is aligned before starting the program.

Make sure the tilter arm is fully retracted before starting the program.

Avoid having a strong light source right above the robot.

Calibration

Before you let the robot solve ascrambled cube you should calibrate it. The calibrate programcalibrates the position of the scanner arm. Run the calibrate program and read theinstructions on the NXT-display. When the program asks you to positionthe sensor above center of cube, you should turn it so that theemitting light hits the center piece of the top of the cube. Tip:Dim the lights of the room to better see where the light from thesensor hits the cube.

Cube tester

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Run this program to check if the colors of a cube can be sorted out using the light sensor.
Placean unscrambled cube on the turntable. The robot scans the faces of thecube. It then displays the minimum and maximum light sensor values ofthe colors for each cube face and tells whether the cube is qualifiedor not.
If the color ranges overlaps the program says the cube isnot OK. But if the overlap is small it might work anyway because of thecolor resolve algorithm of the tiltedtwister program.

Color tester

This program shows the current light sensor value. Use it to try out your own set of colors.

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Downloading programs to the brick

tiltedtwister.zip

Unzip the download-zip to a new directory.

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The files with extension .rxe are executables which should be downloadable to the brick using the lego mindstorms software:
- Create a new project (File/New)
- Press the button 'NXT window'
- Select the Memory tab
- Press the download button

The files with extension .rso are sound files and should be downloadable the same way as rxe-files.

The size of the tiltedtwister program is quite big. If you are having problems when downloading tiltedtwister.rxe try the following:
- Delete other program files and sound files etc to make room.
-Update the NXT F