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CABLE MANAGEMENT

TECHNIQUES

EV3 and NXT cables are necessary, but alwaysseem to get in the way.

Tips for cable management:

Use the cable that is the most appropriate lengthfirst. In the EV3 Core Set you get the followinglength cables: 4 x 25 cm/10 in. cables, 2 x 35cm/14 in. cables, and 1 x 50 cm/20 in. cables.

Some cables will be too long. Wrap cablesaround beams to shorten them and keep themout of the way.

You can even gently knot cables to shorten them.

The cables can get in the way of the attachments,motors, etc. Secure cables by creating differentcable holders/guides out of LEGO. Here are someexamples:

Adding LEGO “cable guides” to the wires can hto keep them in place, identify what they are (usdifferent colors) and even keep them together (icase you want to quickly detach two or more at same time)

If you break the tip on the cables or you need exwires, you can buy replacements from LEGO:http://shop.lego.com/en-US/EV3-Cable-Pack-45514

Have another idea of how manage your cablesPlease share it with EV3Lessons.com.

“Those wires are always in the way! What do I do?”

By Droids Robotics, 2015

http://shop.lego.com/en-US/EV3-Cable-Pack-45514

http://shop.lego.com/en-US/EV3-Cable-Pack-45514



CABLE MANAGEMENT

PART 2

The cables on the LEGO MINDSTORMS can get in

the way of attachments and plugging and

unplugging motors/sensors. In this guide, FTC 8393

Giant Diencephalic BrainSTEM Robotics, an award-

winning former FLL Team from Pittsburgh, PA share

with us some simple, but very effective techniques

for cable management.

The Three

Fingers of

Death:

If you design a plug-in robot

where the brick comes out

of each chassis, you have tobe able to quickly unplug

and plug your cables. This technique keeps the

spacing between the wires correct at all times and

lets you press all three at the same time. Using

different colors lets you color code which wire goes

to which sensor or motor.

Gear Boxes: LEGO gear boxes can find a new use

as cable holders. Here, cables are fed through a

gear box piece. They are

spacious enough to hold

multiple cables.

Building Guide Rails: Building guide rails for long

EV3 wires helps to keep them out of the way and

always in the same spot.

Shorten Cables: When

cables are too long, you

can wrap them a few times around themselves or

around a beam.

By BrainSTEM Robotics and Droids Robotics, 20

Photos of actual builds by BrainSTEM Robotics

shared with permission.



COLOR SENSOR

SHIELDING

TECHNIQUES

In this guide, FTC 8393 Giant Diencephalic

BrainSTEM Robotics, an award-winning former FLL

Team from Pittsburgh, PA share with us some of

their building techniques.

What is Color Sensor Shielding

Shielding refers to surrounding your color sensors

with beams to prevent ambient light from

interfering with the color sensor’s readings. This is

especially valuable if you run your robot indrastically different light settings. For example you

might run the robot in a very sunny room once and

then have to run it in a very dark room later. The

EV3’s color sensors tolerate ambient light better

than NXT sensors, but they still work better with

shielding.

How do you shield sensors?

There are many ways to construct color sensor

shielding. You should use a technique that makessense for your robot design. The goal is simply to

make sure that no ambient (external) light enters

the color sensor.

Examples: In this first picture below, two color

sensors have been assembled together as one

module.

Notice the smooth LEGO

pieces around the bottom

of the assembly on the le

This shielding is very low the ground and the smoo

plates reduce friction. The

sensor is placed a bit

higher from the base of t

shielding.

Notice in the images below that all sides of the

sensor are not covered. There is no real need as

you only care about the bottom.

By BrainSTEM Robotics and Droids Robotics, 20

Photos of actual builds by BrainSTEM Robotics

shared with permission.



NXT AND EV3:WORKING TOGETHER

Using the NXT brick with EV3 software

1. Space is a challenge - the NXT has very littlestorage and a few programs with the newsoftware fill it up *very* quickly.2. Sensor support is limited - you need to dealwith issues such as light level calibration on

your own. Some sensors use odd interfaces(e.g. light uses the sound block).3. Some blocks don't work as advertised.Move steering/tank blocks don'tsynchronize motors well, therefore, makingturns difficult. Built-in graphics don't fit onNXT screen. Advanced Math Blockscannot be used on the NXT.

Using NXT peripherals (sensors and motors)with the EV3 brick:

1) Auto recognition is limited - sometimes, theEV3 brick does not automatically recognizewhen an NXT part is connected2) The NXT color sensor is not as accurate as

the EV3 color sensor

"When developing LEGO® MINDSTORMS® Education EV3 there has been a strong focus on ensuring backwardscompatibility to NXT, making it possible for user to utilise many NXT elements together with EV3" - LEGO

Source: legoengineering.com


http://legoengineering.com/

http://legoengineering.com/



MY BLOCKS

What is a My Block?

My Blocks are a combination of one or more

blocks that you create that can be grouped into a

single block. Once

this custom block is

created, you can use

it in multiple

programs.

Every programming language has something like aMy Block (e.g. functions, procedures, or methods).

If you are looking to improve your programming

style, you should learn to use My Blocks.

My Blocks are great programming tools. When

used correctly, they can be very useful. They can

have inputs and outputs (parameters).

When should you use a My Block?

• When your robot is going to

repeat an action inside your

program

• When your code is repeated in

a different program

• To organize and simplify your code

What is a useful My Block?

Read below to learn what makes a useful My Blo

• Making very specific My Blocks will result in 10

of them (e.g. Move_2inches)

• Adding more inputs into a My Block might ma

them useful in more situations

• Having too many inputs could also make them

very hard to read/understand

Balance your needs and goals to figure out what

the best use for each task. Plan ahead as a team

decide what would make a good set of My Block

EV3Lessons.com has several My Blocks Lessons

Intermediate to get you started.

A note about My Blocks and multiple computer

If your team programs on different computers,

merging the code back is complicated when youuse My Blocks. Merging code results in multiple

copies of the same My Block being created. The

is, unfortunately, no simple solution that we know

My Block What does it do? Is it useful?

Move_2inches Moves the robot 2 inches • This My Block is not useful• You will use it again and

again (for 2 inch movements)• But what if you what to move

a different distance?

Move_Inches with inchesand power as inputs

You can enter the number of inches andthe power you want your robot to move

• This is a useful My Block• It has parameters you are

most likely to use and change

Move_Inches with inches,power, angle, coast/break,text to display, color toblink, etc.

You can pick numerous parameters(inputs) such as inches, power, angle,!

• Looks useful.• But will you ever use all the

inputs for a particularprogram?


http://ev3lessons.com/




COLOR SENSOR:SHIELDING AND

CALIBRATION

The EV3 Color Sensor

The sensor detects the color or

intensity of the light that enters

the sensor. It can be used in three

modes: Color, Reflected Light Intensity and Ambient

Light Intensity.

In Color Mode, the sensor recognizes

seven LEGO colors and No Color.

You do not need to calibrate thesensors in this mode. However, if the

mat you are running the robot on is

not the same “red” or “green” or

“black” as pre-set, the robot will not

perform correctly.

In Reflected Light Mode, the sensor measures how

much light is reflected back from a red light that is

emitted from the sensor itself (0 = very dark and 100 =

very light).

Shielding can be helpful in both modes. Calibration is

critical in Reflected Light Mode.

Color Sensor Shielding

This refers to surrounding your

color sensors with beams to

prevent ambient light from

interfering with the color

sensor’s readings. This is

especially valuable if you run your robot in drastica

different light settings (very sunny room, very dark

room). EV3 color sensors tolerate ambient light bebut still work better with shielding.

Color Sensor Calibration

Calibration is how you train your robot to identify

colors when using them in Reflected Light Mode. T

goal is to “teach” the robot to identify the darkest c

on the mat (black) and the lightest color on the ma

(white). This makes the readings more similar even

different mats or with different lighting conditions.

Shielding vs. Calibration?

Neither system is perfect and they solve slightly

different problems.

Shielding Calibration

What is it? • Using LEGO beams to surround the colorsensors so that no external (ambient) lightsources impact the sensor readings

• Training your robot to know what is the darkest coloand lightest color on the mat you are working on.

Why bother? • Robot repeatability• Consistent sensor readings

• Training the robot will help it to accurately identifyblack, white and all the range of darkness inbetween

How do youdo it?

• Surround each color sensor with beams. • You must run a calibration program• You place the robot on black and white and save th

values. See EV3Lessons.com Calibration Lesson

CommonErrors

• Don’t let your beams scrape on theground.

• Don’t install your color sensor in an angleor too far from the ground to fit beamsaround it.

• You do not need to calibrate your sensors if you usethem only in Color Mode.

• You do not need to calibrate separately for 2sensors on the robot. One calibration will set thereadings for both sensors.





FLL ROBOT

BUILD GUIDE

Building a good competition robot involves a lot of

considerations. We often get asked if Droid Bot would

make a good FLL robot. Droid Bot was designed with

three purposes: 1) To use only the elements in the EV3

Core Kit, 2) Build a robot that could be used to complete

any of the lessons on EV3Lessons.com, and 3) Have

elements of solid building that students could learn from

and adapt for their own designs.

Droid Bot was not built for any year of

FLL or to complete any particular

mission, but it has elements worth

checking out. Take features you like

about Droid Bot and build your own.

Droid Bot 2.0 Features:

• Good weight distribution

• A strong outer wall to support the wheels

• Color sensors that are shielded and a good distance

apart from each other (for line squaring), set in front

the wheels

• A compact design that lets you add more later

• Small wheels for wall riding

• SNAP attachments that go on & off quickly

To build a robot for a competition, start by asking you

the questions below and consider the pros and cons o

each option.

Factors to Consider

What type of wheels should weuse?

• Tall wheels can add height, but give you speed. EV3 motors can be installedupside down to reduce the height.

• Small wheels can give you more precision, but are slower.• Firmer tires won’t become out of shape or come off the rims.• Back wheels/skids need to be able to move in many directions and be at the

same height as the front wheels.• If the robot has to go over obstacles you might have to pick different tires or

even treads. (e.g. Nature’s Fury)

How tall can the robot be? • Other than base height restrictions, the taller the robot, the more imbalancedmight get.

How wide can the robot be? • The width of the robot depends on base, your attachments, as well as howmuch space there is on the competition field (space to navigate betweenmissions and walls)

What are the consequences of animbalanced robot?

• The robot should not be weighted to any one side• If it does, your moves will be unreliable, the tires may skid, the robot may ve• Once you add the weight of the attachments, this may worsen.

Where should we place sensors? • Color sensors need to be a good distance from the drive wheels to line followSometimes placing them too close to the wheel causes problems with the linfollower.

• The gyro can be placed anywhere (but must face right side up/upside down be used to measure turns) (ie. not pointing up or sideways)

• The other sensors need to be placed where they are most useful - on the sidof the robot where you will use them the most.

What is the best spot for anadditional motor?

• If you are using the EV3, you can use 2 additional motors (of any type). Youneed to decide if you like the Medium or Large Motor.

• Where you place them depends on the attachments you build and if you arewilling to add gears to your attachment (like SNAP)

What else should we add to the

robot?

• Planning to ride on walls? Consider adding small wheels in the corner of you

robot.






FLL ROBOT GAME

STRATEGY

Coming up with a strategy for your Robot Game is

important. It helps your team focus its work. But

don’t be afraid to deviate from the plan if you think

of a better idea or want to do more!

1) Pick realistic goals based on the

skill and experience-level of your

team. Sample goals: Learn

proportional control, complete

50% of the missions, build usingpneumatics, use gears, etc.

Tip: A beginner team may/may not be able to

mimic a team they have seen on YouTube. Be

realistic.

2) To pick missions, teams should

consider the point value, difficulty

level, risk level and the time a

mission takes. Also think about

your team’s skill level, etc. See

chart below for questions to think about.

Tip: Picking missions that match your goals and

making them work reliably is often higher scoring

more educational, and more fun, than attempting

every mission and having them work poorly.

3) Each time you go out of base, yo

go on a “run”. You should try to

group your missions together into

runs so that you will be more efficie

Tip: You can use the EV3Lessons Interactive Sketc

Planner to map out your missions. You can also

simply make a list of the missions that go togethe

EV3Lessons has created a Strategy Deck - cards t

help your team determine which missions to wor

on. You can move the cards around as you group

the missions and decide what order to do them i

Criteria What to consider

Point Value • Take a close look at the game and the point values• What missions maximize your points? What missions don’t give you as many points,

but are a lot more effort?

Difficulty Level • Examine the mission models closely and see how they work.

• What missions are easier to accomplish or harder (are they hard to get to, hard toactivate/lift)?

Risk Level • How many points do you lose if that run fails? Does it affect later missions?• Determine how risky a run is. Completing every mission in a single run is fun, but als

risky.

Time • Having trouble fitting your runs into 2min 30sec? Analyze where the time goes.• Does your robot have to travel back and forth a lot? Could you have completed

missions during the same run before returning to base? Does your robot go to thesame part of the mat multiple times?

• Do you spend a lot of time in base? If you build an attachment for one mission, can itbe used on another one too?


Set

Goals

Select

Missions

Plan

Runs



MYTHS & TRUTHS

ABOUT THE GYRO

MYTH TRUTH

The gyro is unreliable for turns. • The biggest problem with the gyro is drift and lag. Both can befixed.

You cannot use software to correct forthe gyro’s drift. All you can do is unplugand replug the sensor.

• There are software solutions you can try. There are severalexamples of solutions on EV3Lessons.com.

Placement matters: The gyro needs tobe low to the ground and at the centerof the robot

• See images below.• Where it is on the robot and the height off the ground makes no

difference in the readings for FLL.• If the application is for a Gyro Boy or another type of robot that is

balancing or has a twisting motion, other installs will work too.

Using two gyros will cancel out the drift. • Unfortunately, this does not work.

The gyro measures angles • The gyro measures angular velocity (rate) and computes anglefrom this.

The gyro cannot be used in FLL reliabily • The gyro can be successfully used in FLL if you correct for lagand drift.

It takes 30secs or more to correct fordrift

• Gyro drift takes as little as 0.1 secs and at most 3 secs and iseasily done during table set up time in FLL.

Gyro accuracy is an issue • While the gyro might be a couple of degrees off, other technique(odometry) can produce similiar or worse errors. Build a robot totolerate these errors.

“We used to fear the gyro but we did your @EV3Lessons today at practice and

now we love it!” - FLL Team

X XGyro Sensor mounting guide

for an FLL robot

1: Angular installs

2: Sideways installs

3: Straight up or down

4: Parallel to ground

5: Upside down, but paralle

to ground


X

There are numerous myths about the Gyro sensor that we would like to discuss.

These myths make teams afraid of trying out the sensor.

The gyro sensor is an extremely useful sensor, but does take a bit of work to use

correctly. That is why we have the Gyro lessons in Advanced on EV3Lessons.com.

1 2 3 4 5






LEGO ORGANIZATION

SYSTEMS

Sorting Systems: It is very important to sort your

LEGO pieces so you can quickly and easily find

the pieces you need when you are building.

Individual trays

with separators

that allow for

organization by

type of piece,

work well for FLL

1920. The boxes

stay open during

building sessions

for quick access. You can purchase these types of

boxes in art supply stores and elsewhere.

Sorting boxes by Stanley

and Husky work well for

FTC 8393 and FLL 2799.

Originally designed for

sorting nails, screws and

other building

materials, these boxes

are also great for LEGO pieces.

Portable Systems: Transporting spare pieces to acontest is also

important.

FLL 1920 uses these

Plano tackle boxes

which allow for extra

storage in the lids and

carry 4 trays of parts.

FLL 2799 takes their sorting

boxes and a Tray Service Car

like the one in this photo to

their events.

Shelving in Meeting Areas: Team rooms need to

be well organized as well. Boxes with lids stacked

on top of each other make it difficult to see what i

inside. Here are someoptions to consider.

Plastic bins on a wooden

shelf work well for teams wit

permanent space like FLL

1920.

You can also get a similar set

of bins on a rolling cart which is

what FLL 51 uses. This way, the

cart can be moved to the buildarea as needed and bins can be

taken down and returned after

use.

Here is a great LEGO building

room by MINDSTORMS Expert

and ROBOT MAK3R, Marc-André

Bazergui. This shelving unit from

IKEA gives easy access to the

LEGO, has a table, and has sliding

doors you can close to hide it all.

Do not take apart: What about items you don’t

want sorted or dismantled? FLL 51 keeps a a set

of shelves for parts and partial builds that are not

to be put back. Anything on the “Do Not Take

Apart Shelf” stays there until the builder takes it

apart.

By FTC 8393, FLL 1920, FLL 2799 & FLL 51



IMPROVING ROBOT

RELIABILITY


Why do you need to find techniques to be more

reliable?

• No robot travels perfectly straight

• Errors accumulate and completing missions

further from base become harder.

Battery levels, motors and sensors have an

impact on reliability

• If you program your robot when the battery

level is low, it won’t run the same when fully

charged

• Solution: Using sensors makes you not asdependent on the battery

• Motors and sensors don’t always match

• Solution: You will never get a perfect match.

Find other techniques to increase reliability

Not starting consistently in base can make a

difference

• Jigs: a LEGO ruler that yourrobot can align against in

base

• Same start each time: pick

one spot to start on

• Inch marks: Use the marks

on the mat

• Words: Use the words/letters

Strategies to increase reliability

• Align on walls –

deliberately back

into a wall to

straighten out

• Square/Align on

lines –If you are

moving angled, you

can straighten out

whenever you see a

line.

• Move until a line –

travel until you find

a line so you know

where you are on

the mat

• Align on a mission

model – Mission models that are stuck in one

place can be used to align against

Repeat the above strategies as often as you can!!

For more details and suggestions see the

following lessons on EV3Lessons.com:

Beginner: Color Sensor

Intermediate Reliability

Advanced: Stall Detection

Advanced: Squaring on Lines

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Why use sensors?

Many rookie teams are nervous about using

sensors in their first year. However, learning to

use sensors will save you lots of time and

frustration by making your robot more reliable. In

this Quick Guide, we share with you a quick way

to program with sensors.

Perhaps the most useful concept you can learn is

“move until”

• Move until you touch

something

• Move until a certain

distance

• Move until a line

All of these are programmed in the

exact same way and learning one block

will open up a world of possibilities inyour code.

Move Steering - Motor On/Off Mode

If you want to keep moving

until something happens,

you first need to use the

Steering block in the “ON”

Mode. At the end of the

code, you will turn the

motor “OFF”. Once this

Steering “On” block executes it moves to the

next block.

Wait For Block is the next

block you need

What is “do something

until” in EV3 Code? You

use the Wait For block in

the Orange Flow Tab.

What can you do with the Wait For Block?

Wait for a touch sensor

to be bumped:

Wait for a

particular color

to be seen:

Wait until you are a

particular distance

away from an

object?

Now that you know the Move Steering Block in

ON/OFF Mode and the Wait For Block, you can

start using your sensors.

For complete lessons using each of these

sensors, you can learn more on EV3Lessons.com

(Beginner Lessons).

USING SENSORS:

MOVE UNTIL


B

C

0 = released

1 = pressed

2 = bumped

Orange Flow Tab:Wait for Block

• Used to waitfor a sensor

reading (ortime)

FINISH

START





How can I document my robot design?

Although photographs of robots are great and you

can even take photographs as you build, being

able to use a CAD program to document your

builds is a easy way to share this information or

even try new ideas.

There are several LEGO CAD programs available to

document your builds:

LEGO Digital Designer: http://ldd.lego.com/en-us/

download/

LDCad: http://www.melkert.net/LDCad

MLCAD: http://mlcad.lm-software.com/

LeoCAD: http://www.leocad.org/trac

How do you use LEGO Digital Designer (LDD):

We are most familiar with LDD and recently started

using it to document robot designs on

EV3Lessons.com. Here are some tips to get you

started:

Step 1: File —> View —>

New Themes

Select MINDSTORMS

Step 2: Bottom Left

corner: Select “Filter

Bricks by Boxes” and

then select which

MINDSTORMS kit

you want to use.

How do you generate build instructions in LDD

Being able to generate build instructions is usef

in case your team wants to make a second copy

the robot or share the design with someone els

Step 1: Top Right Corner in LDD: Pick Building

Guide Mode

Step 2: To save or print: Top Left Corner: Pick

“Generate HTML building guide” (you can now

“print to” or “save as” PDF if you like)

Note: Build instructions generated by LDD can b

illogical. You will have to use common sense wh

using them.

Note: There may be better programs to generat

build instructions. We will try them out soon and

you know.

LEGO CAD TOOLS &

BUILD INSTRUCTIONS



http://www.leocad.org/trac

http://mlcad.lm-software.com/

http://www.melkert.net/LDCad

http://ldd.lego.com/en-us/download/


http://www.leocad.org/trac

http://mlcad.lm-software.com/

http://www.melkert.net/LDCad

http://ldd.lego.com/en-us/download/



EV3 SOFTWARE:

EDU VS. HOME

Many EV3 users refer to the Home/Retail edition as

the “toy version” of the software. This is a mistake.

In reality both versions of

the software are identical

when it comes to

programming your EV3

LEGO MINDSTORMS.

If you are running a

robotics classroom, you

might like the tutorials, models and datalogging

features of the EDU edition. It does give you access

to the new iOS App version of the software. If you

buy the Home edition of the EV3, you can always

buy the additional sensors separately and

download the additional programming blocks.

The capability and

functionality of both

versions of the

software are identical.

In terms of the actual

kit, the EDU kit and the

Retail kit come withdifferent LEGO parts, and a different set of sensors.

No matter which kit you buy, the additional parts

(such as sensors, beams, rechargeable battery, etc.

can be purchased separately).

Education Edition Home/Retail Edition

Cost US$100 Single licenceUS$400 Site Licence

Available from LEGO Education

Free Available here: www.lego.com/en-us/mindstorms/

downloads/software/ddsoftwaredownload/ProgrammingLanguage

EV3-G EV3-G

Datalogging YES NO

ProgrammingTutorials

General EV3 programming tutorialsincluded

EV3 programming tutorials for specific missionsrelated to each build

BuildingInstructions

5 models:EV3 Core Base, GyroBoy,Color Sorter, Puppy, Robot Arm H25Build Instructions: robotsquare.com/2013/10/01/education-ev3-45544-instruction/

5 models:TRACK3R, SPIK3R, EV3RSTORM, R3PTAR,GRIPP3RBonus Models AvailableBuild instructions; http://www.lego.com/en-us/mindstorms/build-a-robot

Sensor Support Built-in blocks/support for all LEGO-manufactured sensors (available inboth the Edu and Retail kits)

Supports all sensors. You will need to downloadthe blocks for the ultrasonic and gyro sensors.Download here: http://www.lego.com/en-us/mindstorms/downloads

Additional AppSupport

Purchasing the EDU version lets youinstall the App version of the EV3Software: https://itunes.apple.com/us/app/lego-mindstorms-education/id959374369?mt=8. RobotCommander App will work.

Home/Retail Edition users will not be able toinstall and use the App version of the EV3Software. Robot Commander App will work:http://www.lego.com/en-us/mindstorms/downloads/robot-commander-app


http://www.lego.com/en-us/mindstorms/downloads/robot-commander-app

https://itunes.apple.com/us/app/lego-mindstorms-education/id959374369?mt=8

http://www.lego.com/en-us/mindstorms/downloads

http://www.lego.com/en-us/mindstorms/build-a-robot

http://robotsquare.com/2013/10/01/education-ev3-45544-instruction/

http://www.lego.com/en-us/mindstorms/downloads/software/ddsoftwaredownload/



USING LEGO GEARS

WITH YOUR EV3

Gears are used for many reasons on EV3 robots.

1) To change the direction of motion

2) To transfer power somewhere far away from the

motor

3) To increase or decrease speed

4) To increase or decrease torque

Changing direction of motion:

Gears can be used to transfer motion from one

direction to another. Notice that you can use LEGO

Systems parts or LEGO Technic frames and beams to

create these custom gear boxes.

Using LEGO knob wheels can give

you the same results.

LEGO also has

gear boxes

available.

Gearing Up:

To increase speed use a large LEGO gear connecte

to the motor (“drive gear”), connected to a smaller

gear (“follower gear”).

So, if you connect a 40 tooth

gear to a 8 tooth gear, every

time the 40 tooth gear turns

once, the smaller gear will

rotate 5 times. You have

geared up your motor:

increased speed, but

decreased torque.

Gearing Down:

To reduce speed and increase torque, use a small

LEGO drive gear connected to a motor, turning a

large follower gear.

So, if you start with a 8 tooth

gear and connect to the 40

tooth gear, you will have to

have turned the 8 tooth gear

5 times to rotate the 40 tooth

gear once. You have geared

down the motor: increased

torque, but decreased

speed.


Drive Gear

Follower Gear

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