Operation

Features:

	It uses minimum parts
	It has a wide body to support large structures
	The RCX (control unit) is overhung in the back to allow more weight in the front
	The top is substantially clear
	With 20:1 speed reduction motor current will be low and torque high (if required)
	Will track a straight line
	Will accept steering commands from remote devices

Operation:

Turn on the power (red button). Set the program to 4. Press the run button. Alternatively, press the Program 4 button from the remote. The Lugger begins to run. The number of 'counts' is displayed. Each count represents 22.5 degrees of rotation of the differential casing, the difference between the left side and right side drive shafts.

If the position of the right side drive shaft is greater than 1 count the right side motor will be shut off briefly to correct. Similarly, if the position of the right side drive shaft is less than 1, the left motor will be shut off briefly to correct. Thus the Lugger will track straight.*

Should the control unit (RCX) receive an IR 'message' of 3 from another RCX or hand-held remote, the right motor will be stopped briefly to make a 45 degree turn to the right. Similarly, if an IR 'message' of 1 is received the Lugger will turn 45 degrees to the left. Also, if an IR 'message' of 2 is received, it will reverse for 10 seconds and then resume forward travel.

*Nothing is Perfect...

The LEGO rotation counter is well-known for skipping counts. Sometimes it drops to 0 and sometimes it rises to 2 with no apparent reason. It will cause a left correction or a right correction, respectively. This might occur once every minute. So it does not track straight. However, the left and right corrections do not favour either direction and the average is reasonably straight.

See the Software