Download - Tilted Twister 2.0

Parts list

Building instructions

The building instructions were created with LDraw, MLCad, LDGLite and LPub

Connections:

1 - Color sensor
2 - Ultrasonic sensor
A - Turntable motor
B - Tilter arm motor
C - Color sensor motor

Downloading files to the brick

Download the files in tiltedtwister.zip to the brick.
The files can be downloaded to the brick using the lego mindstorms software:

  • Unzip tiltedtwister.zip to a new directory.
  • Create a new project (File/New)
  • Press the button "NXT window"
  • Select the Memory tab
  • Press the download button

If you are having problems downloading, try to delete other program files and sound files etc to make room.

Rubik's cube

Tilted Twister 2.0 is programmed to solve a standard Rubik's cube. The Rubik's Logo on the white face is taken into account by the program. The program works best if the cube is loose. If your cube is very stiff, you could try lubricating it with silicone spray. After lubrication, work the cube for a few minutes.

Tilted Twister Java Application

If you are able to connect your LEGO Mindstorms brick to a computer via Bluetooth, you can use the Java Application tiltedtwister.jar to let your computer calculate a faster solution.

Source Code

You don't need the source code unless you want to modify it.
The program is written in NXC using Bricx Command Center. It cannot be edited or viewed in the LEGO Mindstorms software. (It can be viewed in notepad)
And here is the java application source code.

Troubleshooting

First make sure you have followed the building instructions correctly.

The robot performs the following steps:
1: Wait for a cube to solve.
The display should read "GIVE ME A CUBE".
The ultrasonic detector detects when you put the cube in the cradle.
It says Thank you and writes "THANK YOU !" on the display, and moves on to the next step.
If the ultrasonic sensor by any reason does not detect the cube, you could press the orange center button to continue.

2: It scans all six sides
(it will tilt the cube 5 times).

3: It resolves the colors.
The display reads "RESOLVING COLORS" and after a few seconds it will read "Center colors...", "Corner colors..." and last "Edge colors...".
If it failed resolving the colors it will say Sorry and the diaply will read "SORRY Can't resolve colors".
If this is the case it could be caused by incorrect position of the color sensor. Try to move the sensor a bit up or down.
It could also be caused by an incorrect cube. If you have dismantled a cube and assembled i again, it may be unsolvable.
Or if you have a cube that is not an original Rubik's cube.

4: It calculates a solution.
In fact it calculates three solutions and picks the shortest.
The display should read "SOLVING Solution 1" and it plays short beeps with increasing pitch while it calculates the solution.
After a few seconds it should do the same for "SOLVING Solution 2" and "SOLVING Solution 3".

5: It executes the moves by turning, twisting and tilting the cube
when it's done it says "Game Over".

Also take a look in the Frequently Asked Question section.