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Figure 18-4. The Mindstorm entries for the PushBot help us to start developing the final design. Let me go through some of the Mindstorm items and explain my reasoning behind them. The second one, I ll program my bot with distances-to-travel to get it into position for the three figurines, will allow me to position the bot in front of each figurine without worrying about touching or tipping them over. As long as I program my bot to stop before the maximum distances shown in Figure 17-2, I should be safe. I ll have the bot back away from each figurine a good distance so it has plenty of room to safely turn and navigate to the next figurine. The next Mindstorm item, Since the bot is pushing the figurines onto a black obsidian rock, I might be able to use the Light Sensor again to detect the change in color, is a tried-and-true method I used with the SnapShotBot. The Light Sensor will be programmed to detect the change in color when the bot pushes a figurine onto the black pressure plate (black obsidian

Let s start with the Action section in the configuration panel The Action section has a drop-down menu with four options: Read, Write, Close, and Delete Easy enough choose the Read option to read the contents of a file; choose the Write option to write data to a file; choose the Close option to close the file; and choose Delete to delete the file The Name section is where you specify the name of the file you will be working with (you might be writing, reading, closing, or deleting it) If you are creating a new file, keep the name short and unique but descriptive enough so you ll remember what kind of data it holds Good examples are RightTurns (it could hold the total number of right turns a robot makes) and TeamName (this could hold a team s name for use in different programs).

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The File section will list any files that currently exist on the NXT Brick when the Brick is connected and communicating with the software You can choose a file from this list rather than specifying a new filename The Type section has a drop-down with two options: Number and Text Choosing Number creates a Number section where you can type in a numeric value or use the small buttons to increase or decrease the number (if you are writing to the file) Choosing Text will create a Text section where you can type in a bit of text (also if you are writing to a file) If you are reading from a file, you must specify if you are reading a Number or Text value from the file.

rock) This will require placing the Light Sensor on or very near the cage mechanism I intend to use so it detects the black pressure plate quickly Another Mindstorm item I find important is this one: To avoid bumping the figurines, I ll place the cage mechanism on the back of the bot until it is needed and then spin the bot around to approach the figurine What I m envisioning is a grasping-type mechanism that will surround the figurine like a shell to protect it as it is being moved This shell will need the ability to open and close; because of this, I think the shell will be fairly wide when it is fully open (but less than 2 feet remember the constraints).

The True tab is shown in Figure 25-4 and includes a MOVE block that will move SPOT2 forward eight rotations if Mailbox 3 s value and SPOT2 s Light sensor values are identical The SEND MESSAGE block and the RECEIVE MESSAGE block are absolutely essential for two or more NXT robots to communicate and share information This chapter has barely scratched the surface of what can be done using these two blocks I mentioned earlier that with a second NXT kit, you can build a remote control for your robot In order to build a useful remote control, you need to use the SEND MESSAGE blocks in your remote control to send numeric values to the robot These values could represent the number of rotations or degrees for motors B and C to spin, for example Or they could represent the speed/power of the motors to spin.

If the file contains 1234, for example, and you select to read a text value, the data will be treated as text and not as a number Keep that in mind, and remember to always select the proper type of data to read or write to a file If you are closing a file, this simply protects the file from being written or deleted It s a good practice to always close a file when you are finished using it and before opening a different file Let me give you a small example of a program that uses the FILE ACCESS block First, I ll create a new file called LuckyNumber, as shown in Figure 22-2 Choose to write 15 as a Number value into the file..

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