www.:trchivL-.org
`415.561.6767
`415.340-U391 c—f:tx
`
`Internet .'\!.'Chl\'t‘
`3WJ l"un:~'ttm _-\ \'cnut.'
`San l“r:lnI:1sI:0. {L.-\ 9-1] 18
`
`AFFIDAVIT OF CHRISTOPHER BUTLER
`
`I am the Office Manager at the Internet Archive. located in San Francisco.
`1.
`California. I make this declaration of my own personal knowledge.
`2. The Internet Archive is a website that provides access to a digital library of
`Internet sites and other cultural artifacts in digital form. Like a paper library, we provide
`free access to researchers, historians, scholars, and the general public. The lntemet
`Archive has partnered with and receives support from various institutions. including the
`Library of Congress.
`3. The Internet Archive has created a service known as the Wayback Machine. The
`Wayback Machine makes it possible to surf more than 450 billion pages stored in the
`Internet Archive's web archive. Visitors to the Wayback Machine can search archives
`by URL (i.e.. a website address). If archived records for a URL are available, the visitor
`will be presented with a list of available dates. The visitor may select one of those
`dates. and then begin surfing on an archived version of the Web. The links on the
`archived files, when served by the Wayback Machine, point to other archived files
`(whether HTML pages or images). lfa visitor clicks on a link on an archived page, the
`Wayback Machine will serve the archived file with the closest available date to the page
`upon which the link appeared and was clicked.
`4. The archived data made viewable and browseable by the Wayback Machine is
`compiled using software programs known as crawlers, which surf the Web and
`automatically store copies of web files. preserving these tiles as they exist at the point of
`time of capture.
`5. The Internet Archive assigns a URL on its site to the archived files in the format
`http:f!web.archive.org/web:’[Year in yyyy][Month in mm}[Day in dd][Time code in
`hh:mm:ss]f[Archived URL]. Thus, the Internet Archive URL
`http:ffweb.archive.org/webfl 99'.*'0 l 26045828fhttp:ft'www.archive.org/ would be the
`URL for the record ofthe Internet Archive home page HTML file
`(http:h'www.archive.org/) archived on January 26. 1997 at 4:58 a.m. and 28 seconds
`(1 99?.?0 U26 at 04:58:28). A web browser may be set such that a printout from it will
`display the URL of a web page in the printout’s footer. The date assigned by the lntemet
`Archive applies to the HTML file but not to image files linked therein. Thus images that
`appear on a page may not have been archived on the same date as the HTML file.
`Likewise, if a website is designed with "frames," the date assigned by the lntemet
`Archive applies to the frarneset as a whole, and not the individual pages within each
`frame.
`
`6. Attached hereto as Exhibit A are true and accurate copies of printouts of the
`Internet Archive's records ofthe HTML files for the URLs and the dates specified in the
`footer of the printout.
`7. I declare under penalty of perjury that the foregoing is true and correct.
`
`DATE
`
`‘ ml?
`
`'5 4”‘ ---—w
`Christopher Butler
`
`Rubicon Communications. LP — Exh. 1028
`Rubicon Communications, LP V. Lego NS
`IPRZCI16-D1187
`
`

`
`CALIFORNIA JURAT
`
`
`See Attached Document.
`
`State of California
`
`County of San Francisco
`
`M», F‘nr'nr11 Expires Nov 1?. 2020
`
`LAUREL KARR
`Notary Public - Calitcmia
`San Francisco County
`CDmfl'1|SSlI}n at 21?2222
`
`;
`-
`
`A notary public or other officer completing this
`certificate verifies only the identity of the
`individual who signed the document to which this
`certificate is attached, and not the truthfulness.
`
`accuracy, or validity of that document.
`
`Subscribed and swom to (or affirmed) before me on
`this
`
`.5?“ day of
`
`.l—'-u/1»./C'~«"
`
`, Cr:-|-7? ,by
`
`Christopher Butler.
`
`proved to me on the basis of satisfactory evidence to be
`the person who appeared before me.
`/'\
`
`Signaturezeji r/£1,132
`
`

`
`Exhibit A
`
`

`
`LEGO® MINDSTORMS & LEGO Technic
`
`I of 5
`
`I91:-uournlc Photography I Photo Gallery I Logo 6 Photo I Ialindltortns 3 T-Icl-mic I Senior: I Hotuo|
`
`LEGO® MINDSTORMST“ & LEGO Technic
`
`My own creations...
`
`Card Reader
`
`Read values on LEGO binary cards.
`
`Card Reader 2
`
`Improved, faster version of Card Reader.
`
`Badar_.C_aL
`slows in front of obstacles and avoids them.
`
`_
`
`Orders bricks on a conveyor belt according to the value read on a card.
`
`‘Wall Fgllowgr
`
`RoverBot that follows a wall using my GP2Dl’2 dis_tan.c_e sensor.
`
`hllp:.r'.I'w€b .i.1l'l'..'.l"ll ve .org;'web!2004 I 2040446 I 6:"11tlp:!;"ww w.philoh0me.coInfInindstorrris mm
`
`4
`
`

`
`LEGO® MINDSTORMS & LEGO Technic
`
`Gonsuke and Medamao-1-aii
`
`Two tiny walking robots. designed by fluirolgi fihirgkgwa. I created building
`instructions...
`
` .
`
`Not fancy as a LEGO construction, but interesting control program challenge.
`
`Creeging Catergillar
`A strangely moving vehicle, fun to watch
`
`Peaucellier Cell
`Converts rotation motion to linear motion
`
`Brick sorters - Three generations of brick sorters, the latest one includes full
`
`building instructions and supports my color sensor.
`
` - -
`
`Rack and Pinion Stegring Gar
`
`htlplflwfib carchi ve .org;'web.I'2U04 I 2040446 I 6:‘l1ttp:Nww w.phiiohomexgomfmindstorrns .htrn
`
`

`
`LEGO® MINDSTORMS & LEGO Technic
`
`3 of 5
`
`Barrel Collector Robot
`
`Thanks to its laser sensor, this robot detects barrels up to 3 meters away, goes
`
`straight to them, grab them with its arm and collect them in a basket.
`
`Hammerhead, the CD thr.g\_r.;er
`
`My entry for the Mindstorms COMMUNITY CON;'l'EST # 2-: Discus.
`This beast throws Compact Disks 15 feet away and more!
`
`P'titgneugneu the stair climber
`My entry for the Mindstorms COMMUNITY COfi,TEST' # 3: Stairs.
`
`A bit too flimsy, but nonetheless won the contest!
`
`Pneumatic Arm
`
`A fully pneumatic arm. loosely built after the human arm.
`
`Update October 2004: Now includes LDraw files
`
`Brick Simon, a memog game
`
`My entry for the Mindstoi-‘ms COMMUNITY CONTEST # 6: Simon.
`
`Also includes a simplified version that can be built with Robotics Invention
`System set only.
`New: October 2004.
`
`Other LEGO stuff
`
`httpzflweb carchi ve .org;'web!2004 I 2040446 I 6:’http::'Iwww.philohome.comfmintiisturrns .htm
`
`6
`
`

`
`LEGO® MINDSTORMS & LEGO Technic
`
`4 of 5
`
`
`
`Sghere Sculgture
`
`Building a multicolored LEGO sphere with a single "Blue Tub"
`
`Bri k
`
`m
`
`r
`
`An imaged tutorial on the use of this little thing.
`
`DAT files to create rubber belts in you favorite CAD program.
`
`Unofficial LeoCAD garts ugdates
`
`Parts updates for LeoCAD, corresponding to recent LDraw updates
`
`LEGO® is a trademark of the LEGO Group of oornpanies which does not sponsor. authorize or endorse this site.
`
`LEGO has its own homepage: www.|cgo.corn, and a page on the Mindstorms system: _min'cl.storms.le go.com-.
`
`http: Ifweb carchi ve .org;'web!2004 I 2040446 I 6r'ht1p:Nww w.philohome.comfmindstorrns .htm
`
`7
`
`

`
`LEGOIEJ MINDSTORMS & LEGO Tcchnis.‘
`
`|I
`
`|PanorIrnIc PhotographyIPholnGlllaryILogo8. PhotoIIllndntorrnlSIochnlcI SlnlorlIHomo|
`
`hit '3: a';'wch .21r(:hi vi: .0I'g;’\\«'cha'2U04 I 2040446 I 6211Ilp::’;’\v\\-'\v.phiI0h0Inc _c0Inf|11iI1dslu1'ms .htm
`
`

`
`Rack and Pinion Steering Car
`
`—
`
`1 of 2
`
`Panoramic Photography Photo Gllloryr Logo 5 Photo Mlndntorlrn 3. Taohnic
`
`Rack and Pinion Steering Car
`
`This rack and pinion steering car was borne as a test vehicule for my wire guidance sensor, but it can be also used
`with many other sensor configurations. This car uses only parts included in Robotics Invention System box (with
`the exception of red rear lights - RIS contains no red partsi). Originally intended to be a simple chassis, I soon
`found that it's "cubic" structure was closer to old jalopy than to modern cars. and I added bells and whistles to
`reinforce this look.
`
`
`
`Top and bottom view.
`It is fairly easy to modify gear train to change car speed.
`
`httpszffweb .2Irchive.orgfwe|:n’2004 1 206 I 603 l 8/http:Hwww.philohome xomfsteerearfsteeringcar.htm
`
`

`
`Rack and Pinion Steering Car
`
`2 of 2
`
`
`
`Steering assembly details.
`Two touch sensors are activated when steering is at full stroke. but I seldom used them as the belt driven
`mechanism slips in that case.
`
`
`
`Sensor equipment.
`The car can be easily equipped with one or two touch sensors for line following. And of course it can use my
` !
`The sensors are placed on the front bumper, and driven by steering mechanism. This provides better direction
`control.
`
`
`
`LeoCad design files are available here.
`
`- Programs
`
`Get
`
`. Hi-‘.3
`
`program:
`
`0 Qge light sensor
`0 Two light sensors
`I Wire uidance sensor
`
`I Steering Car with Wire Guidance sensor In action: QuickTi me movie. (Movie courtesy of Pascal Bréard)
`
`
`
`1
`
`Panoramic Photography Photo Gnllnty L099 8 Photo Ilindnorms & Tuehrlle
`
`httpszffweb .archive.orgfweb;’2004 1 206 I 603 l8/http:Hwww.philohome comfsteercarfsteeringcar.htm
`
`1 0
`
`

`
`Brick Simon. a memory game
`
`1 of6
`
`
`
`I
`|PanarIrrHc PhotographyIPhotoGalleryILego In PhotoIMlndutorrns InT¢ehnIc|Son|or||Ho|1Inl
`
`
`Brick Simon, a memory game
`
`
`
`Brick Simon was placed second
`
`in.CC6: Simon _contest'
`You may have a look to other contesta.nt's clever entries here.
`
`Here is my entry for the Mindstorms COM UN ' Y CONTEST # 6:.simun.
`
`httpsflweb.archive.orgfwe|:>;'2004120820{)048fhttp:Hphilohome .comfsimon/bricksimon .htm
`
`1 1
`
`

`
`Brick Simon. a memory game
`
`2 of6
`
`I wished to keep a true 4 keys keyboard for ease of use. A few constructions
`later, I was convinced that I needed all three sensors to get a reliable keyboard.
`
`No sensors left for the display function!
`
`So I built this keyboard module. Keys are linked two by two by a rubber band
`loaded lever to keep them up.
`
`The two keys on the left release the pressure on two touch sensors.
`
`The light sensor on the right sees black when no key is pressed, grey or yellow
`when one of them is pressed.
`
`The keyboard unit, integrated in Brick Simon.
`
`httpszffweb.archive.orgfweb;’20041208200048Ihttp:.Uphilohome .comfsimonfbricksimon .htm
`
`1 2
`
`

`
`Brick Simon, a memory game
`
`3 of6
`
`This prototype of the display unit shows how I obtained 4 states: the left motor
`can make one turn, the right motor only a half turn. The differential adds these
`movements, when both motors are on a stop its body can have 4 positions: 0
`turn, U4 turn, 112 turn and 34 turn. Originally, I used white clutch gears, but
`they were still too stiff and I had to use very low motor power settings (0 and I).
`You may have to increase these values to 1 and 2 if you use the new 4336.2
`mgtggs with higher friction.
`
`The display module, integrated in Brick Simon.
`
`- Brick Simon User's manual
`
`I) Compile and download Simgmggc in program slot I, and lnitll'igh§gr,grg,ngc in program slot 2. This can be
`done using BricxCC, you can get it from htm:-lfbricxcc.sourceforge.net! .
`
`2) Run program 2, this will initialize all high scores to 5, then automatically launch Brick Simon program (slot 1).
`This initialization should be performed only once to preserve high scores between runs, after that launch program
`I directly.
`
`3) Brick Simon will first ask for the play difficulty level. RCX LCD shows a walking I234 pattern, waiting for a
`key to be pressed.
`
`— Level 1 (blue key): The easy one. The random color chooser is biased to produce regular sequences. The same
`color can't happen twice successively. High time out on the keyboard (20 seconds)
`— Level 2 (red key): The same color can't happen twice successively. Keyboard time out = 2s
`- Level 3 (yellow key): Color order is lruely random. Keyboard time out = ls
`- Level 4 (green key): The hardest level. Color order is truely random. Keyboard time out = 0.45
`
`A separate high score is kept for each difficulty level.
`
`The chosen difficulty level is then displayed as I l 1 1 , 2222, 3333 or 4444, the RCX plays a little tune and the
`game begins.
`
`4) Simon asks you to repeat a longer and longer color sequence (a new color is added at the end of sequence after
`you repeat it successfully on the keyboard). Its hand turns on the dial to show colors and plays a note (different
`for each color). You then have to key in the sequence in order. RCX LCD displays current sequence length (2
`digits left) and high score sequence length to beat (2 digits right), separated by a dot.
`
`When you reach high score, Brick Simon plays a short tune to tell you...
`
`5) When you finally lose, either because you hit a wrong key or waited too long (doh sound), program is halted.
`Press RCX Run button to start a new game!
`
`- Program
`
`_
`_
`The programs were written II1
`
`NBC
`
`httpszffweb.arci1ive.orgfweb;’200412082O0048fhttp:lr’philohome .comlsimom'bricksi mon .htm
`
`1 3
`
`

`
`Brick Simon, a memory game
`
`4 of 6
`
`Get the high score initialization program, and the Brick Simon program.
`
`Tips and tricks used by this program:
`~ in NQC, static variables (declared outside all program modules) are remembered even when the RCX is off.
`This is how high scores are kept. Moreover, the compiler assigns static variables in successive order, so
`Simon.nqc can use the values set by 1nitHighScore.nqc.
`
`- There is no need to remember the random color sequence. Each time the color sequence must be generated
`again, NQC random number generator is re-initialized using the same seed, with SetRandomSeed(Seed_value)
`instruction.
`
`- Movie
`
`(AVI movies, 1;; compression)
`
`Brick Simon in action... (900 kb).
`
`RIS Simon
`
`
`
`As no fancy parts were used in Brick Simon, it was not too difficult to build a simplified version using only parts
`included in Robotics Invention System. This version comes in three separate units (keyboard, display, RCX).
`Unfortunately, RIS does not contain colored tiles, so the display is a bit... dull!
`
`RIS Simon uses the same programs as his elder brother.
`
`httpszffweb.arci1ive.orgf\veb;’20041208200048fhttp:Hphilohome .comi’simonfbricksimon .htm
`
`1 4
`
`

`
`Brick Simon. a memory game
`
`5 of6
`
`RIS Simon display unit.
`
`RIS Simon keyboard unit.
`
`- Cad design files
`
`Get measure or
`
`
`
`
`(AVI movie, Qi_v_)g_§._1_ compression)
`
`I MOVIE
`
`httpsflfweb.archive.orgfwebl20041208200048fhttp:.Uphilohome .comfsimon/bricksimon .htm
`
`1 5
`
`

`
`Brick Simon. 2: memory game
`
`6 of6
`
`httpszfhveb.archive.0rgfweb;’20041208200048r‘http:Hphilohome szomfsimonfbricksi mun .htm
`
`1 5
`
`

`
`Lego Mindstorms sensors
`
`l ol'3
`
`|PanarIrrHc Photography I Photo Gallery I Logo I Photo I Illndltorrnt I. Yochn'Ic|S|nIori|Ho|1Io|
`
`LEGO Mindstorms® compatible devices
`
`For more informations, visit Michael Gasperi's Ming_l§1Q-mm 35 ".3 Sgnggy [npy-1 Egg: 1
`
`Infra-Red . Lamg
`Useful for IR radar ‘bots. Also shows my Solution to the "Lego connection
`problem" .
`
`
`
`9 Imprgvinglgfrg-EggggggitivigoftheMindSton11slightdetector
`
`
`
`GP2D12 distance sensor
`with it RCX can read distances between 10 and 80 cm.
`
`Color sensor
`
`enables RCX to see color of objects.
`
`Wire Guiggnce -Sensog
`Guide your robot reliably along a wire track.
`
`httpsflweb .archive.orgfwe|:>/2004 1 20405 I 150fhItp:#www.philohome .c0m.»’sensors .htm
`
`1'7
`
`

`
`Lego Mindstorms sensors
`
`2 of 3
`
`V Building a Rflxmfigmpatiblg-temQe['atuI_"'_e sensor
`
`Laser Target Finde.r sensor
`Detect reflecting targets several meters away with this laseimbased sensor
`
`Not so New : December 2003
`
`LEGO technical information
`
`Lego Rotation Sensor Internals
`Photos, schematics, detailed operation and low speed improvement.
`
`Lego® Technic Motor 43362 ‘internals
`What's inside the new type of 9V mini—molor.
`
`Lego® 9V Tech nio Motors cornea reg ehggacteriétios
`
`I
`
`T
`
`Tr
`
`-
`
`i
`
`Traction performance of Lego® wheels.
`
`httpszffweb.archive.orgfwebl2004120405 l 150fhIip:Hwww.philohome Jzomf sensors .htm
`
`1 8
`
`

`
`Lego Mindstorms sensors
`
`
`
`RC Nitro Flash and RCX
`
`RC nitro flash iI’1[e1T)diS,aI’l{l an experiment of RCX control.
`
`LEGO’-'\ is a trademark of the LEGO Group of c0n1pumie.~; which dines not spmasur. :1uthuri7.c or endorse this site,
`LEGO has its own homepage: w\vw_|::g0.::om. and a page on the Mindslornm system: rnind>‘.1orrrIs.le2o.com_
`
`|Panor.|rI-no Photography I Photo Gallory [ Logo & Photo I lllndulorrnn 5 Tuchnlc I Sou-nun I Hornu|
`
`httpszffwebxtrchive.0rgfwebx'2004120405l I5O«’hlIp:Hwwmphil0h0me.c0mr’sen50rs.h1m
`
`19
`
`

`
`Lego compatible, compact rotation sensor
`
`l of 2
`
`u—
`
`Panoramic Photography Photo Gallery Logo 5 Photo Mindltorml A Tachnic
`
`Lego compatible, compact rotation sensor
`
`This rotation sensor is based on a Bo urns 3315 mechanical quadrature encoder. The small size of this encoder
`makes possible to cram the entire rotation sensor in a hollowed 2x3 brick (Bourns makes an even smaller device,
`referenced 3375 - see the Acrobat - but I couln't get one). It is also cheap, about $2.
`
`The main difficulty was to obtain the right electrical levels to be fully compatible with a Lego rotation sensor. The
`first try I made was to simply use a 10K ohms resistor for S1 and a 22K ohms for S2, but the level obtained with
`S1 and S2 closed was too high, and the RCX counted pulses strangely. So I came up with this design which gives
`exactely the same electrical levels than the Lego sensor. It works fine, but two problems remains :
`
`o the torque it needs to rotate is rather high
`o the mechanical contacts sometimes bounce and the RCX counts wrong. I tried to debounce the switches but
`found no simple solution. I will rather try optical forks to solve both problems.
`
`SENSOR+ -
`
`SENSOR-
`
`Here is the schematics. S U82 represents the
`encoder, Q1 is a small signal PNP transistor
`(i .e. BC558) and D} a signal diode (lN4]48 for
`example) which protects from power reversal.
`The sensor is thus polarised - no room enough
`to use a full bridge rectifier !—
`
`The axle of the encoder fits nicely inside an
`axle pin whose hole has been slightly enlarged
`(verify that the axle pin rotates freely in the 2x1
`brick hole with the encoder inserted). It is not
`necessary to glue it.
`
`httpszffweb.archive.orgfwebi’20041204l62945/http:#\vww.philohorI1e.con1fsensorsr’rotsensor.htm
`
`2 0
`
`

`
`Lego compatible, compact rotation sensor
`
`2 of 2
`
`Pretty crowded isn't it ‘P
`
`You have to file out 0.5 mm from the top of the
`encoder so that it is entirely inside the brick — or
`use a 3375 device —
`
`Side view, showing the 2x4 plate closing the
`sensor.
`
`With the same mechanical construction, I also built an angle sensor, using a potentiometer instead of the encoder.
`For another implementation of angle sensor, see Michael Gasperi Simgle Angle Sensor
`
`2
`Ifl— P="°=-"='= "h°=°9'-W "W G*”"v%E—
`
`httpszf/web .archive.orgfwe|:>;’2004 1 204 l62945/http:Hwww.philohome .con1fseI1sorsr’rotsensor.htm
`
`2 1
`
`

`
`logo mindstorms sensor input page
`
`1 of 4
`
`Mindstorms RCX Sensor Input Page
`
` ..... ..... .. ....n.. .... .« ...a.:....m... ._....-
`
`apnrar
`
`Extreme Mlndstorms: An Advanced Guide to Lego Nlindslonns by Dave £laurr|.Illd1aeI Gesperi. Ralph Hempel and Luis Villa. It has information about programming the RC! in
`N03, Forth. and using logos. but most Importantly It has two whole chapters that I wrote on Bulldlng Homebrew fiensors. These chapters take the time to go through the
`construction process step-byetep in easy to follow Instructions. click the be: below to find out more about the book and how to purchase it enline. I receive a referral fee thorn
`Amazon I! you actually purchase It by following this link.
`
`Q £93.. agna__z_on.com.
`
`There is I nice article about LEGO Mlndstnrms In the IEEE Spectrum that can be read oaliae.
`
`Cements:
`
` gmmfl Please don't skip over this.
`Sensor Basics
`
`
`
`LEGO Llg ht Se nsor
`
`How does the parameter Slope work In Sefiensorlnlode?
`ll:
`I1
`WI
`7
`
`Look whatlbulltl
`
`W. Gro Walter's
`
`chl a
`
`atrlx
`
`u
`
`o
`
` m
`
`Corresponding with me
`
`A few words of background:
`
`The not so flne print: This page Is not connected with or endorsed by The LEGO Group. LEGO, LEGO SYBTEII. LEGO TECHNIG. LEGO DAOTA, LEGO M|Nl:I3TORIl8
`are trademarks of the LEGO Group.
`
`I started these pages In October 1998. Sinoe than many experimenters have oontrlbutad to the lmowledge presented here. I hope thatl have Identified all of you
`
`-
`. :- -u
`-
`-
`=,: -. nu -
`=
`=
`-
`-
`properly. given your e-mall address and llnksloyourpages.
`
`The usual caveats apply. it following any instructions provided here causes damage to your RCX or anything else in the universe. It is your own tough luck.
`
`Many people write me with questions about the projects described on these pages and I try to answer all of them. However. you will probably find the following
`booklets helpful In obtalnlng the electronics knowledge needed to build the projects and a lot more. They are available from Radio Shack for only $1.99 each and were
`written by my personal idol Forrest Mlms III. In order of my preference: Sensor Profecls 62-5025, Science Projects 62-5018, and Envlronnrental Projects 62-5019. I have
`also learned a lot about building projects by reading printed magazines Ilke Popular Elecbonlcs and Electronlcs Now by ggbggfi and Evoljyo‘ay Practical Electronics
`published onllne by EEEMAQ.
`
`htipszffweb.an:hive.orgz‘webi’20041204! I 1S48fhtIp:iU"www.plazaearth .con1fusrlgasperillego him
`
`2 2
`
`

`
`lego rnindstorrns sensor input page
`
`Sensor Basics:
`
`2 oféi
`
`The work was done mostly using the Spirit OCR and a Visual Basic program that let me directly select sensor types and poll for their readings. The timing and voltages
`were made with a scope and the pull up resistances were calculated by loading the inputs and measuring the voltage drop.
`
`The RC)! reads Touch. Temperature and Light sensors in the pretty much the same way. Rotation is a lot like Light but will be covered |ater.Tl1e voltage on the input is
`converted to an internal RAW value in the range t|\l'=D to 5V‘=1lJ23. Depending on the sensor type. the RAW number is converted into the number you see in the program.
`Test Panel or View.
`
`Touch sensors: If the RAW value is less than about 450 it becomes a 1 and if the RAW value is greater than about 565 it becomes a 0.
`
`Temperature sensors: In degrees C, Temp=n:‘f35-RAW)iB within the range -200 to +708.
`
`For Light sensors: Light=tatB-RA\'lli7 within the range ll to 100.
`
`Summary Input Table
`Volt
`Raw
`Sensor Ohms
`0.0
`U
`0
`1.1
`29.5
`283.6
`1.6
`322
`4557
`2.2
`450
`7840
`2.3
`565
`1.2309
`3.3
`785
`32345
`4.6
`945
`119620
`5.0
`1023
`Inf
`
`Light
`-
`-
`100
`B2
`65
`34
`11
`U
`
`Temp C Touch
`-
`‘i
`70.0
`1
`5?.9
`1
`41.9
`1
`27.5
`D
`0.0
`0
`-20.0
`D
`-
`[J
`
`For Touch and Temperature type input. the RC){ has a 1D,tl00ohm resistor pulling up the input to St‘. The sensor only needs to provide some resistance to create a
`reading. You can create a falte temperature sensor by hoolcing a $,i'i}llohm resistor In series with a 5ll.DDDohm potentiometer (both available from Radio Shack). This will
`read from about -116 to +606. With Touch or Temperature sensors there is no reason why you can't overdrive the input to whatever voltage you want within the (IV to 5\i'
`range.
`
`You should NOT by to overdrive an input that thinlts it has a Light or Rotation Sensor type on it. Use one oi the general purpose analog interfaces. The RC)! has a
`12liohm resistor pulling up to about EV tprobabiy a diode drop from the battery voltage} to power the red LED for about iime and then looks at the sensor voltage during
`a short D.1ms time. During the short time the sensor is readjust like the Touch or Temperature sensors. The fake Temperature sensor from above will read Light values
`from 100 down to about 22 without the risk of damaging the RC1 since it never loads the input with less than 4,TI‘.|Dohms. I doubt any real damage would occur to the
`RCX since people could accidentally connect a Touch sensor where a Light sensor should be or even a motor output to a sensor input. I can't imagine LEGO letting this
`destroy the RC1. Don't say I dldn‘t warn you.
`
`Some ways to overcome the limits of only having 3 inputs:
`
`Two or more touch sensors can be connected to the same input. This 0Re their value. it any of the sensors are touched the input will be a 1. if all you want to do is
`reverse motors when you touch something this is the way to go.
`
`Torn Schumm has figured out how to orient the wires to allow two or more Touch sensors to be hooked in series to create the AND function. Here is his diagram.
`
`Brlgn Storrnont suggested that a Light sensor and a Touch sensor could be connected to the same Input. When the touch sensor is pushed the Light value will be 100,
`and when it is not, you get the non11alLlght values.
`
`Rob Stehlik has a way to use LEGO lama to oonnect two Touch sensors to the same input and still detennlne which is pressed.
`
`Build a Three Touch Sensor Expander: ga_qL|1a_gs originally suggested that you can put 3 Lego touch switches on one Input by adding 3 resistors. I've built on Paul's
`idea and the Rsanlltrsbx cut-up LEGO electric plate method to design the
`
`Build My Input Mutt: Several people have suggested Multiplexing (flux) the inputs. Most schemes involve using a motor output to switch either electrically or
`mechanically between various extra inputs. I'm working on a scheme that doesn't require using a motor output. I think it was first proposed by Sven Horstman.
`
`Elean_Huatu has a page that shows a way to make an expander similar to mine at .
`
`flmgfihgfl shows how to build a relay based switch that uses a motor output to select between difiierent inputs or outputs on his extgndgr Egg.
`
`Du
`
`Fl
`
`h r sent me this gtggtggmfi design that uses a sensor input to toggle between a primary and secondary motor output.
`
`Lorenzo Zago has plans {or a DAG based expander on his fimhmm page.
`
`Rob Duff has plans for an elaborate 6 touch input. Mux on his RCX lngut Pagg.
`
`How to see RAW values with only the standard RCX software:
`Open “Robotics Invention" Software and Login
`Go to "Program REX‘
`Go to "RCX Code"
`Bring out
`the "Test Panel" from lower right corner
`Configure Sensor 1 as Touch and leave the other two sensors blank {This inadvertently sets the other sensors to type 0 which is RAW)
`Click "Get. Sensor values" ionly Sensor
`1 will
`show a value of 0}
`New on the RCX itself. push View two times to select Sensor 2
`(yes Sensor 3 does the same thing}
`The RCX display should now read 1023 if there is nothing connected
`Attach an electrical connector cable to Sensor 2 input
`On the under side of the unconnected end you can clip lead resistors, voltmeters, etc.
`1U.000ohms will give a View reading of 512 and Dohms will give 0
`You can apply a voltage here if you are absolutely sure about its polarity and value etc.
`ov will equal
`0 and 5v will be 1023
`Unfortunately you can’: do anything with the RAW values in RCX Code.
`
`Homebrew Sensors:
`
`httpsflwob.archivo.orgfwebi’200412041l1548.’http:J’i'www.pIzizaea1rih.c0rI1.’usn'ga5pcrii'lego.him
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`lego mindstorms sensor input page
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`3 of4
`
`My % can be used to lnhrflw mint’ Other I¢I'I9°rI-
`
`My Is made from a 52 Radio Shack part. some brass tublng and a cut-up LEGO block.
`
`My Sound Sensor gives your robot an ear that can be used to turn your $200 Mlndatonns into a Clapper (program Included).
`
`My §_|'.|§_|,1gj3_t_3_gn_m[ ls more sensltlvo to vlslble llght than the LEGO Light sensor and Is made from a $2.29 Radlo Shack part.
`
`My Qlfia.[anttaLLI.t|IJ1_$ansor is better at tracking a ltght source because It uses two photocells and only sends the dlfference In light level to the RCX.
`
`My Rotation sensor is built from 100% LEGO Parts and can be interfaced with either software or hardware.
`
`My flo_ej1|flj_|1g_$y;o_r allows you to make an all around touch sensor.
`
`My dm£mmr detects the motion ol olrtects near to the ROI.
`
`My m allows you to measure the speed or torque of a runnlng motor.
`
`My L can measure the actual pressure generated tlvtth LEGO pneumatlos.
`
`My 51mg1g_A.|:|g|,e_fi_gn§g|: ls made with a tlny potentiometer and reads angles up to 270 degrees.
`
`My Galvanic Skin Resgnse Sensor measures the resistance of your skin to ddermlne your emotional stress Ievet.
`
`.§ is developlng a specialized sensor for Lina Tgcygg .
`
`Edanfitnment has a page that discusses the detalls of maklng a Temperature sensor like mine plus a Light and s Bend sensor at .
`
`Dean lluelgy has a page that shows a way to males a Temperature sensor that mine by cutting LEGO electric plates into 2X2 connectors at TFII Lggg lnvarttlon Pgge.
`
`fl1|gm has an opto-Inrterrupter based sensor that can he used to mdte 8 __=
`
`1mm_|§aha_| has oome up with an Interesting connector idea. He replaces two studs of a regular LEGO bloclt with IMO brass screws.
`
`TE Klng uses copper fell to make connectors for hls LED bricks.
`
`flnxamam has a page for the LEGO wbennaster that contains a RCX compatlble Temperature Sensor. Variable Reslstor. and other projectsm .
`
`flg_§_M,a,tg,|;|g_|[ has a couple of pages for maklng Touch Sensors from old PC mouse parts off his .
`
`There are photographs of LEGO compatible sensors at ESG Lego Robotlcs Seminar.
`
` fi has a Hall effect Magnetlc Sensor and more in the yg section of hls LEGO page.
`
`BaIpl1_Hemne1 shows a simple modillcatlon to the LEGO Llght Sensor that makes It work better In ambient Ilght on hls mflflh P896‘.
`
`sasurslbitn has plans fora Pyroelectrlc Infrared sensor on hls Japanese Homahrew Pggg. Also take a look at his Internals gggg for some great photographs of the guts
`or most oi the lallndstorms hardware.
`
`There Is lnformatlon about standard LEGO sensors compiled by fligkflglfihnqnkg at .
`
`For those of you who can‘t get enough redundant Inforrnatlon about RC! sensors Including yet another Temperature Sensor and Connector Idea try the Lego Robotics
`LsLl!.E£L|J££-
`
`Robert P. Munafo has talten the Idea of uslrlg LEGO motors as velocity sensors to a new level on his .
`
`Rob Hendrix has a slmple sound sensor (maybe too slmple] on his Sensors Page.
`
`John Barnes sent me thls deslgn for an Ultrasonic Range Sensor.
`
`lrlanery chea has a passive Infrared or gyrolfirlc sensor based on the Eltec -t-I2-3 sensor.
`
`Jonathan Knudsen has a short chapter on homehrew sensors in his boat: The Unolliclal Guide to LEGO llllndstm-ms Robots.
`
`Ben Jackson has a design for a LEGO Traln Axle sensor on his .
`
`Phlllppe I-Iurbaln has plans for a rotation sensor. Sharp distance sensor, and other sensor related devices on his Illllndslorms Page. ‘.
`Rohobull-tearn in Luxembourg has built many m Including some very complex sound sensors.
`
`’ Helnrlch Potter has a deslgn for e LEGO compatlble rotation sensor using reed switches on hts flgmmnjgnmp page.
`
`Greg Blount sent me a nice design for a gyroeleclrlc sensor based on a very Inexpensive sensing element from Gloleb.
`
`Andreas Peter has a dlstsnce sensor based on the GP2Dt|2 sensor and other homelarsw projects In his gym.
`
`Gordon McComb's book ;flmmn Second Edltlon has several pages on RC! sensors and a lot of good Infonnatlon about robots In general.
`
`Mlchael Brandl has a way to use the LEGO polarlty switch as a retatlon sensor plus more Ideas on his ‘|'"IE§Tr|cl(s page.
`
`Rainer Balaerowskl has an Interface for .
`
`Mark Dresser has sent me hls deslgn for a .
`
`Michael I-Iannrlclt has built hls own pressure sensor and plans for more on his Mr. spy page.
`
`Here are the plans for a _l:|§_g;;t3y.§_Mgnjm; uslng s modified LEGO Llght sensor.
`
`The book h an excellent guide to Mlndstomts In general with some great Infonnatlon about sensors too.
`
`httpsmlweb.archivc.org."webI’20041204] I 1548r'l1ttp:I'I’www.pl:1zaearth .con1fusrI’gasperiI’lego .htm
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`lego Inindstorms sensor input page
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`4 of 4
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`R011 Limbauuh P130196 9 tutorial on mmm
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`Dean camera has some sensor Ideas on his Enflun sllle.
`
`Lloyd Gordon has e descrlpilon of plans for e . 6
`
`other places you should go:
`
`Russell Nelson keeps the closest Ihlng to a FAQ at Legg Illindsllorms Internals.
`
`You can buy the LEGO MINDSTDRMS: Robotics Invention System onllrle.
`
`
`
`LUGNET The Lugnei Rnbotlcs News Server ls where most of the hacker: hangout.
`
`Don‘! forest the officlal .L.E9_0_M1|1_l'I§.l9m Pann-
`Seleclled M|l"id8IloI'l'l'ls Site of the lllonth
`
`In case you feel compelled to send me mall:
`
`IE]
`
`httpszffweb.archive.org;'webf200412041 I 1548fl1ttp:f!www.plazaea11h.con1fusr!gasperi!!ego.h1m
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