This forklift is a simple differential robot with a telescopic mast that can extend up to twice its length. The motor used to raise the forks is a Firgelli L12 Linear Actuator (see official site below).

The LEGO compatible Firgelli Linear Actuators can be connected and controlled as the standard NXT servomotors. To simplify your life, I developed an NXC library to manage them. You can download it from the link below.

Firgelli LEGO Linear Actuator NXC library user guide

void LAextend(byte PORT, int SPEED, bool TOTALLY)

Call this function to extend the linear actuator connected to the specified PORT, at the specified SPEED. If the flag TOTALLY is true, the motor runs until the end stop.

void LAretract(byte PORT, int SPEED, bool TOTALLY)

Call this function to retract the linear actuator connected to the specified PORT, at the specified SPEED. If the flag TOTALLY is true, the motor runs until the end stop.

The function LAmove moves the actuator by the specified amount of units and detects if the motor is in stall when it reaches an end stop.
The input arguments are the the motor PORT,
the number of units the motor must move (D) and
UNIT, that can be one of the units defined below:

LA_MM (millimeters)
LA_HMM (half millimeter)
LA_CM 20 (centimeters)
LA_DLU (LEGO units)
The OUTPUT (boolean) is true if the motor was blocked before completing its run, or false if it could complete the run.

Call this function passing the motor PORT and the desired SPEED, and
you will control the motor movement with the NXT arrow buttons:
LEFT ARROW : the actuator retracts
RIGHT ARROW : the actuator extends
ORANGE BUTTON : the function returns

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Related material

Firgelli LEGO Linear Actuators

Download the Firgelli LEGO Linear Actuators NXC library

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