Page 241 - Lego Mindstorms

Robot 8 • The ULK (Useful LEGO Knowledge)

The Base

ULK uses just one motor for both locomotion and steering. When the motor spins counter-clockwise
(forward direction according to the RCX), both wheels turn forward. When the motor spins clock-
wise (reverse direction), the right wheel spins backwards, while the left wheel is locked in place by a
ratchet. This mechanism is called a ratchet splitter, and is useful when a motor is performing more
than one operation.

Base Step 0

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