In this entry, I will explain regarding the TCR-2009 Version 2.0 programming. The TCR-2009 use two NXT Bricks for it operations, therefore there were two types of programming that created.

NXT 1 Programming:

For robot movement


NXT 1 Program Details:

Icon 1: Move

  • Port: B & C
  • Direction: Forward
  • Steering: Forward
  • Power: 75
  • Duration: Unlimited
  • Next Action: n/a

Icon 2: Wait

  • Control: Sensor
  • Sensor: Ultrasonic Sensor
  • Port: 4
  • Until: <13
  • Show: Centimeters

Icon 3: Move

  • Port: B & C
  • Direction: Stop
  • Steering: n/a
  • Power: n/a
  • Duration: n/a
  • Next Action: Break

Icon 4: Wait

  • Control: Sensor
  • Sensor: Sound Sensor
  • Port: 3
  • Until: > 50

Icon 5: Wait

  • Control: Time
  • Until: Seconds 2

Icon 6: Move

  • Port: B & C
  • Direction: Reverse
  • Steering: Reverse Straight
  • Power: 50
  • Duration: 1 Rotation
  • Next Action: Break

Icon 7: Wait

  • Control: Time
  • Until: Seconds 1


NXT 2 Programming:

For Conveyors operation

NXT 2 Program Details:

Icon 1: Switch

  • Control: Sensor
  • Sensor: Light Sensor
  • Port: 1
  • Compare: >40
  • Function: Generate Light

**Below icon will be place in the “bright” sequence.

Icon 2: Move

  • Port: B & C
  • Direction: Forward
  • Steering: Forward Straight
  • Power: 100
  • Duration: Unlimited
  • Next Action: n/a

Icon 3: Sound

  • Action: Sound File
  • Control: Play
  • Volume: 100
  • Function: Repeat
  • File: ! Hydraulic 02
  • Wait: n/a

Icon 4: Wait

  • Control: Sensor
  • Snesor: Sound Sensor
  • Port: 4
  • Until: >50

Icon 5: Sound

  • Action: Sound File
  • Control: Stop
  • Volume: n/a
  • Function: n/a
  • File: n/a
  • Wait: n/a

Icon 6: Move

  • Port: B & C
  • Direction: Stop
  • Steering: n/a
  • Power: n/a
  • Duration: n/a
  • Next Action: Break


Programming Explanation
The robot will move forward until the Ultrasonic Sensor detecting  the ball which in 13 cm range. Then, the robot will stop  moving. Now, the second NXT will perform its operation.

If the robot detecting the Red colour ball (which more bright than Blue colour ball), both conveyor motors will rotating the conveyor to suck the red ball. At the same time, the “hydraulic 02” sound will be starting. The sound sensor use to stop the conveyor motor. When the robot detecting any sound more than 50 dbs such as from whistle  or shout, the conveyor motor will stop from sucking the ball. At the same time, the “hydraulic 02” sound will stop.

Then, the first NXT will continue it operation. When the robot detecting above 50 dbs sound (at same time with the second NXT), the robot will be waiting for 2 seconds for the next operation. The robot will move backward for one rotation, and waiting for one second before it move forward again as at the beginning of the program.

Red Text: NXT 1 Operation
Blue Text: NXT 2 Operation


To download the TCR2009 programming (NXT1.rbt and NXT2.rbt file), please click on the “TCR2009 program box” at the right sidebar.

For any inquiries, please leave us a comment. Till then, good bye.

What next? I will uploading the steps of robot construction video and pictures via using Lego Digital Designer in the next entry! Just wait!



In 17th March 2009, the LEGO Engineering Conference 2009 had been held at the National Science Centre, Kuala Lumpur.The purpose of this conference is to gather the teachers and educators who use or plan to use LEGO MINDSTORM NXT to teach math and/or science in their  classroom.

Nine students and one lecturer from Institut Pendidikan Guru Malaysia Kampus Teknik Kuala Lumpur  had participate in this conference. Two of the students are from this group (in bold):

  1. Elizabeth Ling Pei Lee (DNT4)
  2. Khairuddin Abd Rahman (DNT4)
  3. Syukri Milieng (DNT4)
  4. Mohd Afiq Imam (DNT4)
  5. Hafizan Maidin (DNT1)
  6. Mohd Yasir Md Moktar (DNT3)
  7. Noor Azmi Ahmad (DNT2)
  8. Nurhanum Akmal Ahmad (DNT4)
  9. Siti Hajar Azeman (DNT4)
  10. Puan Nor Rashidah Bte Ahmad (IPGM Electrical Department Lecturer)


In the seminar, we all were hearing on the speech by Professor Chris Rogers, Tufts University CEEO and four other presenters which also including Miss Elizabeth Ling Pei Lee presentation on her experience of using NXT in learning QUT robotic subject.


Prof Chris Rogers on his speech

Miss Elizabeth on her presentation

Miss Elizabeth on her presentation

Here,  I want to congratulate Miss Elizabeth on her braveness on sharing her experiences with all.

Till then, may god bless we all.

::::Pictures: Credited to Noor Azmi Ahmad DNT2::::

TCR 2009 Version 2.0 (Final)




Project Concept: Collecting for Cleaning

Project Name: Trash Collector Robot (TCR-2009)

Project Version: Final 2.0

Manufacture Date: 12 March 2009


  1. Collecting trash on floor.
  2. Keep the trash without falling back to floor

Differences between TCR2009 Test 1.0
This final version of TCR2009 do not as “intelligence” as the Test version. The operation of the robot had been set up. But, the improvement of its conveyor (the important part of this robot) had make the final version of TCR2009 is better than the test version. By using TWO NXT Bricks had make the TCR2009 Version 2.0 become more efficient in completing it tasks.

Project Overview
The TCR2009 Version F-2.0 uses two NXT Bricks. The NXT Brick had been programmed to perform different tasks:

  1. NXT 1: Use to move the robots, and rotating the servo motor for the wheels. (Integrate with Ultra Sonic and Sound Sensors)
  2. NXT 2: Use to rotate the four conveyors. (Integrate with Sound sensor and Light Sensors)

This TCR-2009 Version 2.0 uses four sensors, which are 1 Ultra Sonic, 1 Light and 2 Sound Sensors. The purpose of using this sensors are:

  1. Ultrasonic: To detect the ball, and will stop the motor when the ball is near.
  2. Light: To detect the colour of the ball.
  3. Sound1: To make the robot reverse and again move forward after it hears sound (whistle)
  4. Sound2: To stop the conveyor motor after it hear sound (whistle)

The balls (red and blue) are indicated as:

  1. Red: Trash
  2. Blue: Nature (Leaves, Flower pot)

How does TCR-2009 works?
The robot will move forward until the ultrasonic sensor detecting the ball. When it reach 11 cm to the ball position, the robot will stop. Then, the light sensor will scanning the colour of the ball. If the ball is the red colour, the light sensor will give the command to the conveyor to rotating and sucking the ball along the conveyor. If the ball is blue, the conveyor do not perform anything.

The robot will wait for the sound command. When it hear the sound from the whistle, both sound sensor (from NXT 1 and NXT2) will perform the next task. The conveyor will stop immediately, and after 2 seconds, the robot will reverse  for one rotation. Then, the robot will move forward and again try to detecting any balls that being place at the  front of the robot.

Problem and Solution
The major problems is the robot movement accuracy. Even though it had been programmed to move forward, the robot still do not accurately moving straight. After several R&D, the main problems is cause by the wheels. The front wheel need to be appropriately set up at the servo motor, and the back wheel need to being modified in order to make the robot do not able to turn (right or left).

The other problem is the light sensor position. For the first test, the light sensor is being place at the right of the robot. But, this had make the sensor do not able to detect appropriately the exact colour of the ball because the sensor is too high. Thus, the light sensor change it place at the upper of the robot, and will detect the colour of the ball which pass through under the sensor accurately.

The conveyor problems as in Test Version 1.0 had been overcome by the changes of the conveyor positions and by using two servo motor.

Improvement and Enhancement
Many improvement is needed to make the TCR-2009 become more “intelligence”, such as:

  1. The robot need to be programed as the test version, which able to detect the ball that place randomly at the floor. This will make the robot will able to collect any “trash” at the floor, not only the ball that placed at it front.
  2. The robot need to use the wider but smaller tyres. This will increase the robot moving accuracy.
  3. The TCR-2009 only can collect the round shape ball, with the actual size. It cannot to collect the smaller and bigger ball. But, the TCR2009 never being test to collect the box. Thus, for the improvement, the another servo motor at the conveyors is needed to move the conveyor either right or left (to increase and decreasing the size of the ball path between the conveyor). Therefore, the robot will able to collect the small ball, the medium ball, and also the bigger ball.

That all for today, I will explaining and uploading the programming of TCR-2009 in future.

UPDATE: The TCR-2009 Program is now available for viewing and download!

And, I also will uploading the video of the building guide. The video of the TCR2009 performance will be uploading by Miss Elizabeth.

Till then, good bye!

::::Pictures: Credited to Azri Razak::::

This entry is regarding our group presentation. Actually, the presentation is on last Thursday and we supposed upload this entry last Thursday. However, due to the heavy rain that cause internet connection had slow down, we had postpone the uploading process.

Today, finally, I can see the sunshine shine beautifully . So, i decide to upload new entry to this blog. The first entry is regarding our group presentation ( as been say at above).

Our presentation went successfully from the beginning to the end. Thanks to the all group members that arrived at the class on time and thanks to the robot as well. The robot work effectively as we programmed. The lecture also satisfied with our robot even though there are room for improvements.

In this entry, i enclosed some pictures of the presentation.


our project proposal been analyzed by Mr Ghani


explanation during presentation

We haVe handsome guys and cuTe girL in the group, rite?

We haVe handsome guys and cuTe girL in the group, rite?

Well, this is report regarding our presentation. Next update will be the proposal and the video..

tiLL then, Love MyseLf, Love Him, Love Her and Love our Planet

After a week of brainstroming and hardwork to  solve the problems occur for our TCR version 1,  finally we can smile today. Our robot finally not only work accordingly but also a lot of improvements that had been done on it.

We did modified some of the ideas that proposed at the last entry, but we still ensure the early objectives of the project is achieved. We also had add in more sensor, servo motor as well the NXT. Sound like our designed robot is big isn’t it? Well, the robot is not complicated.

Tomorrow is our presentation day and let hope everything will go well. Tonight is the busy night for all the group members as we are preparing the last step for the best presentation tomorrow. Therefore, we promise, after presentation tomorow,first thing we will do is upload the video in this blog. For time being, i upload some great pictures of our robot for all our readers that stop by our blog.

tcr 2009

tcr 2009 2

Dear readers.

(public viewer, QUT friends and lecturers)

These are only 2 pictures of TCR 2009.  Coming, we will upload more pictures, video of the robotics as well the explanation regarding the robot TCR 2009.

— Till then, stay cute, live to the fullest—-

TCR 2009 Version 1.0 (Test)


TCR2009 2

Project Concept: Cleaning and Collecting

Project Name: Trash Collector Robot (TCR-2009)

Project Version: Test 1.0

Manufacture Date: 4 March 2009


  1. Collecting trash on floor.
  2. Keep the trash without falling back to floor

Project Overview
This is the second idea for our robot project after plenty of weeks our group making the brainstorming and analyzing the previous ideas. The theme of TRASH COLLECTOR is same with our previous robot idea, the DESK CLEANER, which is to clean the environment. The robot have use three sensors, which are ultrasonic, light and sound sensors. The purpose of use these sensors is being describe on the points below.

  1. Ultrasonic: To detect the nearest object on the floor, in order to make the robot move towards the object.
  2. Light: To determine the colour of object.
  3. Sound: To give the command to the conveyor belt to stop.

The robot firstly will make a full 360 degrees of rotation, to allow the ultrasonic sensor to scan the nearest object. Then, the robot will move to the object that had been put randomly on floor. The light sensor will scan the colour of the object, and if the colour of object is red, the conveyor will be rotating to move the ball up. Meanwhile, if the colour of the object is blue, the robot will make a reverse. For the red ball, the ball will be move along the conveyor until the ball drop to the box at the back of the robot. Then, the robot will wait until it hear any sound before stop the conveyor motor. The robot will then scan back to detect any other nearest object on the floor.

Problem and Solution
For the robot building design, there are many problems that we face.

  1. Conveyor Arrangement: Firstly, we wanted to use only two conveyor belt. However, the belt seems not long enough to grab the ball on the floor. Therefore, we need to add extra two conveyor. However, the arrangement of conveyor seem to give us a lot of problems. The front and back conveyors must be rotating on the same direction. Thus, we had try to adapt on many gears to find this solution. But, at the end, some of our peers had come with the brilliant ideas, which is to arrange the front conveyor on the above of the back conveyor. So, the servo motor will rotate the both conveyor at the same time and without using any complicated gears.
  2. Conveyor Functions: The front conveyor seem effective, but the back conveyor did not able to push the ball to the back. The ball will be stuck at the middle of the conveyor. At the end, we had try to put some attachment, that will push the ball to down in order to make the ball effectively grabbed by the back conveyor.
  3. Wheel body: The wheel body is situated at the below of the robot. The main problem is the front body is too heavy, thus it will make the robot unstable. This will effecting the robot movement. As the solution, we had try to make a bigger box for the object container at the back of the robot. This will make the weight of front and back body more equal and stable.

The program of the robot still do not working. The robot can detect the nearest object, however it did not manage to accurately move to that object. Thus, the conveyor motor will not be function if the robot do not detect the object. We will try to enhance our programming by time to time.

Later Improvement
In next class, we will try to modified the robot on its design and program. We will try to change the arrangement of conveyor. The front conveyor will be put at the below of back conveyor.We will discuss on it effectiveness on the next post. For the program, after several problems on the previous project, we had try to change on how the robot will function. Next time, the robot will use also the three sensors, but with different purpose. The light sensor: will detect the route, the ultrasonic :will detect the object, and the sound sensor still be use for the same function as above.

That all for today, till the next time, Bye..

::::Pictures: Credited to Azri Razak ::::

After a week of process of brainstorming and try and error, we had encounter several problems and circumstances. Therefore, in the process of thinking of the solution, we suddenly came out with the new idea. The theme is still the same “Cleaning Robot”. Now, we have two choice of the robot. Doubt in choosing with best idea, Azri then say ” why not we develop programs or both idea first. Then, we try to built the design. Test it and we see the result”. We agree with that.

idea 1 —  Cleaning desk robot.

The problem is the students find difficulties to clean the wide area surface such as table. Therefore, the robot will help to clean the table. In this design, the sensors used is ultrasonic, light and sound.

idea 2 — Pick Up the Garbage Robot.

Main important point in this design is the conveyor belt at the wheel. The robot will detect the garbage at then pick up the garbage using its conveyor belt at the wheel. The sensors used in this design is ultrasonic, light and sound as well.

By now, the program for both ideas are ready. Just the designs of the robot.

well,  now, we are having class. While i am typing this blog, the boys are struggling in producing design for the both ideas.  Guess, I need to stop blogging and help them out.

Till then, stay cute and stay cool.