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I save and upload the program to my PushBot for testing. After testing, the PushBot is lined up properly with the bottle. Now, let s pause here for just a minute and look at where my PushBot is located. Currently, the bot has spun around and is facing the first figurine with the cage in the opened position. What happens next Let me break it down in a small list: 1. Approach figurine 1. 2. Close the cage around figurine 1. 3. Push figurine 1 forward onto pressure plate and stop. 4. Open cage and reverse to starting position. 5. Turn right, move forward a short distance, and then turn left. 6. PushBot is in front of figurine 2. Do you see the pattern It will do the exact same steps for figurine 2 and then end up facing figurine 3. It will perform the steps for figurine 3 with the only difference being that after it opens the cage (step 4) and reverses direction, it will need to be directed to the figurine near the ramp. Because of these repeated steps, I m going to use a LOOP block that will allow me to perform the preceding steps three times, once for each of the first three figurines.

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Throughout this book, I ve used the MOVE block for control of the motors. I use it in just about every robot I ve ever designed, but if you ve been paying attention to the NXT-G software as you ve worked through the book s exercises, you may have noticed a block that I ve yet to cover the MOTOR block. You ll also look at the RESET MOTOR block, which you might find handy for diagnosing and correcting movement problems.

If I change the logic answer from Yes to No using the logic keyboard, the EXAMINE E block will receive the No data from the CUP block and perform the action required for a No o answer: the screen displays The Yellow cup is not empty..

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Before my bot locates and begins pushing the final figurine up the ramp, I ll need it to be stopped in front of figurine 3. Knowing this information will help me to determine what I should place inside the LOOP block I m going to add for the actions needed to push figurines 1, 2, and 3 into position. But first, I ll drop in the LOOP block (see Figure 20-10) and configure it to execute any blocks placed inside it one time. (I ll later change this to three times after testing so it will perform the same actions for three bottles.) Now, the first thing I need the PushBot to do is move slowly toward the figurine and stop when the Sound Sensor detects my voice. I ll use another LOOP block and configure it to break when the Sound Sensor is triggered (see Figure 20-11). During testing I ll fine-tune the sensitivity of the Sound Sensor, but for now I m setting it to detect any sound greater than 50.

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Figure 24-1 shows the MOTOR block. It works almost exactly like the MOVE block, with but a few exceptions. First, the MOTOR block can only be used to control a single motor; you cannot use it to control two or more motors, so you ll have to drop in two (or more) MOTOR blocks if you wish to have precise control over two or more motors.

Figure 24-1. The MOTOR block and its configuration panel You can use the MOTOR block just like a MOVE block to control the Direction, Power, Duration, and Next Action sections, but the Action, Control, and Wait sections work a little differently. If you leave the Duration set to Unlimited, the Action and Wait sections will be grayed out and unavailable. Only when you configure the MOTOR block to allow for precise control of the Duration (rotations, degrees, or time) will you have access to the Action and Wait sections. Figure 24-2 shows that I ve elected to control Port B (Motor B) and wish to configure that motor using degrees for the Duration.

Figure 20-11. This inner LOOP block will break when the Sound Sensor is triggered. I ll add in a MOVE block that will slowly move the bot toward the bottle. Figure 20-12 shows that I ve configured it to spin motors B and C .25 rotation (a quarter rotation).

CHAPTER 7 WIRED!

Figure 24-2. The MOTOR block will use degrees for control of Motor B. In the Action section, you now have three options from the pull-down menu, as seen in Figure 24-3. These include Ramp Up, Ramp Down, and Constant.

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