{"id":2,"date":"2016-05-10T03:48:21","date_gmt":"2016-05-10T03:48:21","guid":{"rendered":"http:\/\/bierkai.nl\/?page_id=2"},"modified":"2020-01-26T20:25:50","modified_gmt":"2020-01-26T19:25:50","slug":"sample-page","status":"publish","type":"page","link":"https:\/\/bierkai.nl\/","title":{"rendered":"klust3r"},"content":{"rendered":"\n\n\n\n<p>The klust3r Lego Mindstorms EV3 robot sorts peanut M&amp;M&#8217;s by color. It is a hobby project that has gotten out of hand.<\/p>\n\n\n\n<figure class=\"wp-block-embed-youtube wp-block-embed is-type-video is-provider-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"klust3r\" width=\"1160\" height=\"653\" src=\"https:\/\/www.youtube.com\/embed\/KikizQBebS0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><a href=\"#howto\">Building instructions and a menu driven program<\/a> are available for your M&amp;M sorting needs. The project also features an <a href=\"https:\/\/bierkai.nl\/?page_id=26\">origins story<\/a>, a <a href=\"https:\/\/bierkai.nl\/?page_id=98\">roadmap<\/a>, and some <a href=\"https:\/\/bierkai.nl\/?page_id=178\">credits<\/a>.<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\"><p>Bierkai provides everything I need for my own klust3r! Except the Lego parts of course. And the M&amp;Ms.<\/p><\/blockquote>\n\n\n\n<p><\/p>\n\n\n\n<h1 class=\"wp-block-heading\" id=\"howto\">Getting started<\/h1>\n\n\n\n<p>You can build your own klust3r from parts found in the excellent Lego <a href=\"https:\/\/www.lego.com\/en-nl\/product\/lego-mindstorms-ev3-31313\">Mindstorms EV3 (31313)<\/a> and <a href=\"https:\/\/www.lego.com\/en-nl\/product\/bucket-wheel-excavator-42055\">Bucket Wheel Excavator (42055)<\/a> sets. See the end of the building instructions for a full list of required parts. Now get to work:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Download the official building instructions (PDF, currently <a href=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/klust3r-1.0.pdf\">version 1.0<\/a>) and menu driven program (currently <a href=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/klust3r-1.0.2.ev3\">version 1.0.2<\/a>).<\/li><li>Use the <a href=\"https:\/\/www.lego.com\/en-us\/themes\/mindstorms\/downloads\">EV3 desktop (LabView) software<\/a> to upload the klust3r program to your EV3 brick. If you use a USB cable, do so before assembling the robot, when the brick&#8217;s PC port is still accessible.<\/li><li>Build the robot as detailed in the building instructions.<\/li><li>Run the klust3r program on the brick and use its &#8220;Calibrate&#8230;&#8221; menu to put the robot&#8217;s moving parts in their initial position:<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-gallery columns-3 is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"683\" src=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4741-1024x683.jpg\" alt=\"Hatch alignment\" data-id=\"163\" data-full-url=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4741-scaled.jpg\" data-link=\"https:\/\/bierkai.nl\/?attachment_id=163\" class=\"wp-image-163\" srcset=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4741-1024x683.jpg 1024w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4741-300x200.jpg 300w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4741-768x512.jpg 768w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4741-1536x1024.jpg 1536w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4741-2048x1365.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"blocks-gallery-item__caption\">The hatch should be flush with the platform<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"683\" src=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4744-1024x683.jpg\" alt=\"Wheel alignment\" data-id=\"165\" data-full-url=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4744-scaled.jpg\" data-link=\"https:\/\/bierkai.nl\/?attachment_id=165\" class=\"wp-image-165\" srcset=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4744-1024x683.jpg 1024w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4744-300x200.jpg 300w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4744-768x512.jpg 768w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4744-1536x1024.jpg 1536w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4744-2048x1365.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"blocks-gallery-item__caption\">A wheel spoke should be over the hatch&#8217;s hinge<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"683\" src=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4747-1024x683.jpg\" alt=\"Conveyor alignment\" data-id=\"167\" data-full-url=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4747-scaled.jpg\" data-link=\"https:\/\/bierkai.nl\/?attachment_id=167\" class=\"wp-image-167\" srcset=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4747-1024x683.jpg 1024w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4747-300x200.jpg 300w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4747-768x512.jpg 768w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4747-1536x1024.jpg 1536w, https:\/\/bierkai.nl\/wp-content\/uploads\/2020\/01\/IMG_4747-2048x1365.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"blocks-gallery-item__caption\">The conveyor should put an M&amp;M exactly underneath the color sensor<\/figcaption><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p>Your robot is now ready to serve. Empty a bag of M&amp;Ms into the hopper and let klust3r sort it out!<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\"><p>I just don&#8217;t want to deal with blue M&amp;M&#8217;s when I&#8217;m feeling blue already. And with klust3r I don&#8217;t have to!<\/p><\/blockquote>\n\n\n\n<p><\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Day to day use<\/h1>\n\n\n\n<p>When running the <a href=\"#howto\">provided program<\/a>, use the brick&#8217;s directional (&#8216;arrow&#8217;) and central (&#8216;confirm&#8217;) buttons to navigate klust3r&#8217;s menus and control the robot.<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>The <code>Sort<\/code> and <code>Sort one<\/code> commands make klust3r categorize your candy.<\/li><li>The <code>Dispense<\/code> command provides access to sorted sweets.<\/li><li>The <code>Calibrate...<\/code> sub-menu allows you to (re-)align klust3r&#8217;s moving parts.<\/li><li>The <code>Exit<\/code> command stops the program.<\/li><\/ul>\n\n\n\n<p>Use of the EV3 brick&#8217;s &#8216;cancel&#8217; (top left) button is discouraged, since it&#8217;ll forcefully terminate the program, perhaps leaving klust3r in a state requiring recalibration. Prevent such trouble by using the program&#8217;s <code>Stop<\/code> and <code>Exit<\/code> commands instead. Activate these using the brick&#8217;s central &#8216;confirm&#8217; button.<\/p>\n\n\n\n<p>When the program is started, it assumes that no sorted candies remain from previous runs. Help klust3r prevent mismatches by emptying its wheel before starting a sorting session.<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\"><p>Be advised that klust3r works best in an environment that provides sufficient gravity. Management accepts no responsibility.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>The klust3r Lego Mindstorms EV3 robot sorts peanut M&amp;M&#8217;s by color. It is a hobby project that has gotten out&hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":1,"comment_status":"closed","ping_status":"open","template":"","meta":{"footnotes":""},"class_list":["post-2","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/pages\/2","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/bierkai.nl\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2"}],"version-history":[{"count":75,"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/pages\/2\/revisions"}],"predecessor-version":[{"id":346,"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/pages\/2\/revisions\/346"}],"wp:attachment":[{"href":"https:\/\/bierkai.nl\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}