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Examples include under a table or maybe inside a tunnel On the tool s screen, make sure you select the sensor you ll be using (Light sensor for this example) as well as the port number you ve got it plugged into (Port 1 for this example) Place the robot in the darkest location and press the Calibrate button On the brick s screen, you ll hear a beep after the calibrate program is executed The LCD screen will indicate it is taking a minimum reading and that you should press the Enter button (orange button) to capture the reading Press the Enter button once Next, carry your robot and laptop to the brightest location where your robot is likely to operate Examples include directly under a light or as close to a window as possible.

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Figure 20-7. The PushBot can turn 180 degrees by a combination of MOVE blocks. I used the method described in 4 for obtaining the correct number of degrees for motors B and C to turn. For my PushBot, the right turn (motor B) made in Figure 20-7 requires 508 degrees. For the left turn (motor C), the motor is configured for 513 degrees (the negative sign simply tells me to configure motor C for 513 degrees but to also change the spin direction). You cannot use a negative number as a duration, so you must enter the same value (513) but select the opposite spin direction. Figure 20-8 shows the MOVE block for the right turn.

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Look at the LCD screen and you ll see a message asking you to press the Enter button to capture the maximum value Press the Enter button once Finally, click the Refresh button on the Calibrate Sensors Tool and you ll see that the minimum and maximum values change to reflect the robot s current lighting conditions This is shown in Figure 23-5..

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Figure 7-8 Everything is hooked up and ready to use But before I print the color and height, I need another special block that can examine the contents of the cup and determine if it is empty or not empty Now, all I need to do is reveal my new EXAMINE block, shown in Figure 7-9 The EXAMINE block can perform a nice trick It takes a Yes or No answer (logic) and, a d, depending on the answer, performs action 1 or action 2 Action 1 will occur if the answer is Yes; ; Action 2 will occur if the answer is No (for more information on logic and the LOGIC block, feel l free to jump ahead to 8) I can use this block to examine the contents of the CUP block It will first look at the data a plug labeled Empty.

Figure 23-5. The Calibrate Sensors Tool will update the minimum and maximum values for a sensor. The process works the same for the Sound sensor. In this case, you ll want to carry your robot and laptop to the quietest spot where the robot will operate. Press the Calibrate button and follow the onscreen instructions to capture the minimum value. Next you ll carry the robot and laptop to the loudest area the robot might encounter and perform the same steps to capture the maximum value. Disconnect your robot from the laptop when done and your robot s Sound and Light sensors will be properly calibrated. To reset the sensors to the default conditions, simply reconnect your brick, launch the Calibrate Sensors Tool, and click the Default button, which will reconfigure the minimum and maximum values to their original settings.

Figure 20-8. This MOVE block allows the PushBot to make a right turn. I follow this with another MOVE block for the left turn in Figure 20-9.

Well, that does it for the CALIBRATE block. In 24, I m going to show you how to program your bot to reset its motors, which is useful if you are monitoring motor rotation, for example. Keep reading to find out how it works.

If the data the Empty data plug provides is Yes, the EXAMINE block will use e the EXAMINE = Yes screen If the data is No, the block will use the EXAMINE = No screen Figure 7-9 shows that when this program is run, the screen will display Fill the Blue cup p with 5 inches of water It does this because the EXAMINE block receives the Yes data from the e CUP block It then performs the actions required for a Yes answer r If I go back and change the Color to Yellow and the Height of the cup to 3 (using a color r keyboard and height keyboard), this information will be passed from the CUP block to the e EXAMINE block.

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