LEGO Mindstorms Llama User manual

Llama
Llamas actually do spit—which you will learn rst-hand of you scare or anger one of these
animals in person. This robots spits balls with a Zamor shooter.
At the end of these instructions, you’ll nd some variations of this model—two of them
reduce torque on the front wheels, one is a model built with the competition cannon found
in the Education Resource Set Supplemental (sold by LEGO Education).
There is also a simple idea for making your llama look even more like a real llama.
My thanks to Dave, Steven and Andrew Parker for their helpful input. (Photo credit: Dave Parker)

2x
4x
2x
1
2x
2
3
4x
2x

2x
4
5
6x
1x
4x
2x
6

10
12x
2x
2x
2x
2x
2x
4x
7
4x
2x
9
8
7

2x
4x
2x
11
12
2x
2x
2x
5
2x
13

2x
1x
2x
2x
15
14
2x
16

1x
3x
1
2x
7
1x
2
3x
3

2x
4
6
5
4x
2x
2x
2x

7
7
1x
1x
8
1x
6
2x
9

12
10
11
2x
2x
2x

13
15
4x
2x
2x
1x
14
2x

17
16
2x
4x

2
1x
1x
1x
1x
1x
1x
1
2x
1x
6
4
5
3

18
4x
19
4x

21
20
2x
2x
2x
2x

22
23
2x
2x

24
2x
2x
1x
1x
1x
1x
25

1
2x

llama.rbt
Attach the spitting motor to Port A. Plug the wheel motors into Ports B & C. (If you are going to
use the remote control, cross the B and C wires, so the orientation of turns will be the same for
the robot and you.)
This is a simple program to get you started. It assumes you will run the wheels in Port
B and C with the remote control. Unfortunately, the remote control seems to inhibit the
shooter, and may not always shoot at close objects, if you are using the remote control.
LOOP
Forever
Motor Block
Port A
Up Arrow
.5 seconds
Power—75
Wait Block
Sensor
Ultrasonic
Motor Block
Port A
Down Arrow
.5 seconds
Power—100
Wait Block
Port 4
Ultrasonic Sensor
< 12 inches

You may nd that the front wheels of the llama are prone to come off with a lot of turning and twisting. You
can reduce this torque by removing the front tires and allowing the to run on the gray wheels. (Without the rub-
ber tires there is less drag.)
Simply removing the tires will work, but the llama form is somewhat lost. Here are a few simple modications
that will retain the lines of the robot.
Shift the front
wheels and the front
wheel supports
down one hole.
There are no
changes in the
front section,
and the sections
connect together
as they did
before.