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Figure 20-12. The MOVE block will spin motors B and C in quarter rotations. Now it s time to upload the program and test it. I had to change the sensitivity of the Sound Sensor to a value of 70; normal noises around my house were setting off the sensor. The bot did a perfect turn and approached the bottle slowly until the Sound Sensor triggered. Now I want the cage to close and hold the bottle. This is done with a MOVE block as shown in Figure 20-13. I configured the MOVE block to spin motor A 65 degrees. In Figure 20-13, I enter a value of 65 for the number of Degrees and I also configure motor A to spin in reverse (to take into account the negative value of the rotation). This was the proper number of degrees required to move the cage from an open position to the closed position. I obtain this value using the View option on the Brick; refer to 4 for a review on how to obtain this reading.

Figure 24-3 Three options are available for the Action section of the MOTOR block If you choose Ramp Up and execute the program, you ll find that Motor B will increase its rotation speed at a constant rate until it reaches its maximum value for Power (75 in this example) Ramp Down will instruct the motor to reduce its current Power value to zero at a constant rate In effect, you ll see the robot speed up or slow down at a fixed rate This is helpful if you re finding your robot jumping and possibly changing its direction due to the sudden acceleration experienced when the motors kick in The Constant option in the Action drop-down menu does the exact opposite as Ramp Up or Ramp Down.

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Figure 7-9 The new EXAMINE block There are many more fake blocks that I could create, but I hope you re starting to understand how blocks can receive input data and provide output data Both types of data (input and output) can be provided by you (by typing information in or selecting options in a configurav tion panel), or the data can be provided by other blocks using wires One thing you also need to know is that some blocks might not have any input plugs; some blocks might not have any output plugs, and a few, rare blocks have no data plugs at all.

When I draw stick figure people, they tend to have very short legs and very long arms. I still color outside the lines with crayons. I guess what I m trying to say is that if you re a professional artist, you don t have to worry about any competition from me. I can, however, draw shapes that are fairly close to squares, circles, rectangles, and triangles. And that s good enough for what I m going to ask you to do in this section. I want to give you some suggestions before starting on the building of your bot, and I m going to take my own advice and show you my actual sketches for the ExploroBot. I m going to reference some of the ideas I wrote down in the Mindstorm section and show you how I came up with the size and shape of the ExploroBot. First, I ll start with the shape. Take a look at Figure 2-8 and notice that I started with a basic shape to help determine the placement of sensors, motors, and other parts.

If you configure a motor s Action section to Constant, the motor will attempt to reach the set Power immediately when the block is executed This is great if you wish to give your robot an immediate boost of speed, but as I mentioned earlier you may find that your robot may lose some accuracy when it comes to moving in a specific direction The sudden jump of the motors to maximum speed can often cause the robot to move off course due to slippage of the wheel(s) on a slick surface or a resistance to spin on a difficult surface such as sand or grass, for example How might you reduce the chance of this happening Simple! Place a check in the Control section box labeled Motor Power.

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