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a 3, the SWITCH blocks takes that value, notices that it equals the 3 in the third condition, and then executes any blocks found on the third tab. Easy! One final warning, though what happens if the RANDOM block goes crazy and sends a value of 4 to the SWITCH block There is no condition that has a matching value of 4, so what will happen Well, remember when you selected a condition and clicked the * button and a checkmark appeared next to the condition That checkmark also specifies the default condition. Look back at Figure 12-16. The checkmark is next to the third tab. This means that if a value of 4 is provided by the RANDOM block and 4 isn t a possible value in the Condition section, the default path will be chosen. So the blocks in the third tab will execute for a value of 4, 5, 100, or any other number except for 1 and 2. The SWITCH block is a very useful block for giving your robots some powerful decisionmaking skills. The SWITCH block can use Logic values (True or False), Numbers, Text, and sensors to determine which paths are chosen by your robot to execute. Keep this in mind when you need to give your robots the ability to make different decisions based on different types of input. As your programming skills progress, you ll find the SWITCH block one of your favorite tools to use. Next, we ll be looking into some specialty blocks.

When discussing the WAIT block, you need to understand one important concept: The WAIT block will stop waiting when a specific condition is met. Until the condition is met, the WAIT block will essentially pause the program and keep it from executing any more blocks. It doesn t matter if you are using the Color sensor, Sound sensor, Touch sensor, Ultrasonic sensor, Light sensor, or a simple time limit. When you use a WAIT block, you must tell the WAIT block what condition must be met before the waiting ends. So, to show you how this works, let me give SPOT some more pseudo-code: Me: SPOT, keep moving forward until something happens. Vague, isn t it What does something happens mean Well, it can be anything: Until five seconds have passed Until the Sound sensor detects a loud noise Until the Ultrasonic sensor detects something eight inches in front of it Until the Color sensor detects a blue card on the ground

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CHAPTER 10 WAIT FOR IT!

After you build your SnapShotBot, you re going to set up a test environment So, right now you need to figure out where you re going to perform your test Possible locations are a living room floor (wood floor or carpet), a garage floor, or even a tile floor as long as the floor isn t black or a very dark color, you shouldn t have any trouble Once you determine your test floor, find a piece of black paper (or a piece of paper that is much darker than your floor color) Now, here s what I want you to do: 1 Turn on the Intelligent Brick 2 Use the Brick s right or left button to scroll to the View option and then press the orange select button 3 Use the right or left button to find the Reflected Light option and then press the orange select button.

his will be another short chapter. How much can one really say about a block that simply stops your program from running

Do you get the idea I want SPOT to keep moving forward until a special condition is met. And with NXT-G, that condition can occur using data from a sensor, an NXT button, or a time limit. I m going to go over each of these individually, so you ll see how the conditions are configured. To demonstrate different conditions, I m going to have you first create an extremely simple program for SPOT (or your own bot). Open the NXT-G software, and start a new program. Drop a MOVE block on the workspace, and configure it to spin motors B and C forward with an Unlimited Duration and a Power setting of 50 (see Figure 10-1).

4 Use the right or left button to select the port used by your Light Sensor and then press the orange select button the LED light on the Light Sensor should turn on 5 Point the Light Sensor near your test floor s surface A good result can be achieved by holding it no more than 2 to 3 centimeters above the surface 6 Write down the result displayed on the LCD screen for the normal surface 7 Place the black (or dark) paper under the Light Sensor at the same distance and notice the value changes 8 Write down the new result displayed on the LCD screen for the obsidian surface Record the results of your test somewhere on your Design Journal page Write Normal Floor and the number that was displayed for it, and then write Dark Paper and the number for it, too.

Figure 10-1. A new NXT-G program for SPOT Now it s time to play around with different conditions that will end SPOT s forward movement. The WAIT block is our answer.

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