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LEGO Forklift with Linear Actuator

ForkLift2

ForkLift1This LEGO forklift is a differential drive vehicle with a telescopic mast that can extend up to twice its length. The servomotor used to raise the forks is a Actuonix L12 Linear Actuator. The LEGO compatible Actuonix Linear Actuators can be connected and controlled as the standard NXT servomotors. I developed an NXC library to manage the Actuonix Linear Actuators.

  • You can download the NXC library  from here.
  • You can download the LDRAW parts library from here.

Check out the LEGO forklift in action in the video below!

     Firgelli Linear Actuator NXC library 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.

bool LAmove(byte PORT, int D, int UNIT)

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.

void LAmanual(byte PORT, int SPEED)

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

Download the LEGO forklift MLCAD file

In order to open the MLCAD file, you need to install the LDRAW software suite and the Linear Actuators LDRAW parts by Philo.
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