{"id":26,"date":"2019-12-22T12:33:29","date_gmt":"2019-12-22T11:33:29","guid":{"rendered":"https:\/\/bierkai.nl\/?page_id=26"},"modified":"2020-01-26T20:23:15","modified_gmt":"2020-01-26T19:23:15","slug":"background","status":"publish","type":"page","link":"https:\/\/bierkai.nl\/?page_id=26","title":{"rendered":"History"},"content":{"rendered":"\n\n\n\n<p>While the price tag had long dissuaded me from getting a set for myself, Lego Mindstorms had been high on my wish list ever since I set eyes on the <a href=\"https:\/\/brickset.com\/sets\/9754-1\/Dark-Side-Developer-Kit\">Dark Side Developer Kit<\/a> a long time ago. So when my family got sick of my longing and indecision, they gave me the <a href=\"https:\/\/www.lego.com\/en-us\/product\/lego-mindstorms-ev3-31313\">EV3 Home Edition<\/a> set for my birthday a couple of years back. Wonderful stuff! But while it allows for some <a href=\"https:\/\/www.lego.com\/cdn\/cs\/set\/assets\/blt7dca5180ea66ea5e\/31313_SPIK3R_2016.pdf\">really<\/a> <a href=\"https:\/\/www.youtube.com\/watch?v=oUJ4L4kmbHw\">impressive<\/a> <a href=\"https:\/\/mindcuber.com\/\">robots<\/a> to be built, I found that the set provides limited options for inexperienced builders such as myself.<\/p>\n\n\n\n<p>So when I received a gift certificate as a goodbye gift from my previous job, I expanded my toolbox with the largest Lego Technic set to date: the humongous <a href=\"https:\/\/www.lego.com\/en-us\/product\/bucket-wheel-excavator-42055\">Bucket Wheel Excavator<\/a>. While it&#8217;s an impressive build, I especially appreciated the truckload of raw material. This would give me lots of options for building and experimentation.<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2019\/12\/IMG_20171202_153548-1024x768.jpg\" alt=\"Bucket Wheel Excavator parts\" class=\"wp-image-29\" srcset=\"https:\/\/bierkai.nl\/wp-content\/uploads\/2019\/12\/IMG_20171202_153548-1024x768.jpg 1024w, https:\/\/bierkai.nl\/wp-content\/uploads\/2019\/12\/IMG_20171202_153548-300x225.jpg 300w, https:\/\/bierkai.nl\/wp-content\/uploads\/2019\/12\/IMG_20171202_153548-768x576.jpg 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption>The contents of the Bucket Wheel Excavator (42055) set<\/figcaption><\/figure>\n\n\n\n<p>Having quit my job, I had time to spend as well. So I set out to do what apparently <a href=\"https:\/\/www.google.com\/search?q=mindstorms+m%26m+sorter\">lots of people do<\/a> with their Mindstorms, which is to build an M&amp;M sorting machine. And while <a href=\"https:\/\/www.youtube.com\/watch?v=ldUkydbe0uQ\">many<\/a> <a href=\"https:\/\/www.youtube.com\/watch?v=OjpZihFDpPA\">of<\/a> <a href=\"https:\/\/www.youtube.com\/watch?v=N5ZtAwfdNd4\">these<\/a> <a href=\"https:\/\/www.dailymotion.com\/video\/x36lnah_lego-mindstorm-ev3-robot-m-m-sorter_webcam\">machines<\/a> use non-Lego parts (especially to collect the sorted candy), I wanted mine to be all Lego. So after some time I came up with what I think is a pretty decent design.<\/p>\n\n\n\n<p>Having put a lot of effort into the project, I wanted to preserve the design to be able to rebuild the model. So when I took the robot apart, I took photos every step of the way and used these (in reverse order) to create a model in <a href=\"https:\/\/www.lego.com\/en-us\/ldd\">Lego Digital Designer<\/a>. Although modeling is a breeze in this piece of software, it produces building instructions that are many things:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>animated: the parts drop into their assigned positions, which is really cool, and<\/li><li>automatically decomposed: the software decides for itself which parts constitute a sub-assembly, and <\/li><li>hilarious: &#8220;have these six pegs float at these positions until you attach them to liftarms&#8221;, and<\/li><li>unusable: &#8220;insert this piece into the center of the closed box you built over the last hour&#8221;, and<\/li><li>unalterable: AFAIK the instruction generation process is fully automated and cannot be influenced by the user.<\/li><\/ul>\n\n\n\n<p>The <a href=\"https:\/\/www.ldraw.org\/\">LDraw standard<\/a> and associated software served me better. Its support for sub-assemblies makes modeling more manageable, makes large models easier to understand, and chunks the build instructions into separate sequences. I ended up using <a href=\"http:\/\/www.melkert.net\/LDCad\">LDCad<\/a> for modeling, and <a href=\"https:\/\/trevorsandy.github.io\/lpub3d\/\">LPub3d<\/a> to convert those models to building instructions. And with the addition of lots of LDraw source editing, I brought the results to the <a href=\"https:\/\/bierkai.nl\/\">point where they are today<\/a>.<\/p>\n\n\n\n<p>Hoping that it might spark joy in others, I prepared my work for mass consumption, which included naming it. I settled on &#8220;klust3r&#8221; because<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>it adheres to the apparent convention of 1337ly replacing an &#8216;e&#8217; by a &#8216;3&#8217; in EV3 robot names, and<\/li><li>it evokes associations with the concept of categorization, and<\/li><li>it plays on the Dutch half-sentence &#8220;ik lust er&#8221; (roughly meaning &#8220;I&#8217;d like some&#8221;), which seems appropriate, and<\/li><li>it allows for trademarking because it&#8217;s not an existing word.<\/li><\/ul>\n\n\n\n<p>But because of the possible association with the English &#8220;lackluster&#8221;, the robot may suffer a name change at some point in the <a href=\"https:\/\/bierkai.nl\/?page_id=98\">future<\/a>.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>While the price tag had long dissuaded me from getting a set for myself, Lego Mindstorms had been high on&hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":2,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-26","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/pages\/26","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=26"}],"version-history":[{"count":60,"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/pages\/26\/revisions"}],"predecessor-version":[{"id":345,"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/pages\/26\/revisions\/345"}],"up":[{"embeddable":true,"href":"https:\/\/bierkai.nl\/index.php?rest_route=\/wp\/v2\/pages\/2"}],"wp:attachment":[{"href":"https:\/\/bierkai.nl\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=26"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}