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Figure 23-3. Calibrating a Sound sensor In this example, I would try to place the robot in the quietest point in the room. This could be difficult, as I cannot predict factors such as observers or other potential sources of sound, but I ll do my best. I press the Touch sensor button, and the first CALIBRATE block will obtain the minimum value for the Sound sensor. Next, I ll place the robot in what I think will be the noisiest part of the room and press the Touch sensor button. The maximum value for the Sound sensor is now set. One thing to note with the Sound sensor is the proximity of the sensor to the NXT motors. Keep in mind that when your robot is using any or all of its motors, the sound from the motors can influence the Sound sensor if you have programmed it to use the sound level for decision-making. You ll have to experiment and test your robots to determine the proper settings to configure for your Sound sensor triggers. You might program SPOT to turn left if the sound level is less than 20, but the sound coming from the NXT motors might cause the Sound sensor to evaluate the sound level as 22 or 23 when all other conditions are correct for a left turn. That s why it always pays to test, test, test.

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Figure 7-7. I ll connect a wire from the COLOR block to the CUP block. I can also connect a height keyboard that can only be used to type in a cup s height in n inches. If I try to type in anything besides a number, the keyboard won t work. I ll also connect t a logic keyboard to the Empty input plug. A logic keyboard is a very special keyboard it can n only be used to provide Yes or No answers. Not Maybe or Sometimes; only Yes or No. What I would like to do with the CUP block is to connect it to a screen that will display one e of two things (but not both): Fill the [Color] cup with [Height] inches of water. The [Color] cup is not empty. To do this, I can use a screen to print the color and height that are provided by the CUP block (Figure 7-8 shows my setup so far). .

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The CALIBRATE block allows you to calibrate the sensors wherever the robot is located. This means that during a competition or a test where you don t have access to your computer or laptop, you will still have the ability to set the minimum and maximum values for these sensors and have them calibrated to the specific lighting and sound conditions your robot is experiencing. There is also a tool that you can use that exists outside your program. A few CALIBRATE blocks won t substantially increase the size of your program, but if you do have access to your computer or laptop, you can save a little bit of storage space on your brick by removing the CALIBRATE blocks and instead using the Calibrate Sensors Tool, shown in Figure 23-4.

Figure 20-5. A MOVE block for the PushBot First, I need the bot to turn 180 degrees so the cage is facing the bottle. How do I do this Simple. I first back the bot up to give it room to turn one rotation of motors B and C should do it. I use a MOVE block to do this, as shown in Figure 20-6.

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Figure 23-4 The Calibrate Sensors Tool user screen To open the Calibrate Sensors Tool, connect your brick to your computer or laptop with a USB cable and turn the brick on You ll also need to connect at least one of the sensors, or the List area shown in Figure 23-4 will be grayed out and unavailable After connecting your brick and turning it on, open the NXT-G software, click on the Tools menu, and select Calibrate Sensors from the drop-down menu This will open the screen shown in Figure 23-4 Using the Calibrate Sensors Tool works best with a laptop, when you can carry your brick (or robot) and the laptop to various locations where your robot will execute a program If you ve got the Light Sensor plugged in, for example, carry the laptop and robot to the darkest location where your robot will operate.

Figure 20-6. The PushBot will first back up about 6 inches. Next, I will turn ONLY motor B so the bot turns 90 degrees to the left. I will follow this with a MOVE block that turns ONLY motor C so the bot turns 90 degrees to the right. At this point, the PushBot will be facing the reverse direction. This is demonstrated in Figure 20-7.

CHAPTER 7 WIRED!