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CHAPTER 6 NXT TURTLE
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{ time = "bioclock: "; sec = NumToStr(TIMER/1000); sec_tenth = NumToStr((TIMER%1000)/100); // concatenate the strings to show // "bioclock: <seconds>.<tenths> s" on screen time = StrCat( time, sec, ".", sec_tenth, " s" ); ClearLine(LCD_LINE8); TextOut(0,LCD_LINE8,time); Wait(200); } } The FSM task is worth more attention. It resembles the general structure for an FSM, like the one seen in 3, in Listing 3-4. Listing 6-4 displays the FSM task code. Listing 6-4. The Code of the Task Implementing the Turtle s FSM task FSM () { Follows(main); // finite state machine loop while(true) { ShowMood(mood); // the turtle acts according to its actual mood. // The order in which the moods are listed in the // switch structure is not relevant switch(mood) { case QUIET: QuietMoodActions(); break; case HUNGRY: HungryMoodActions(); break; case BORED: BoredMoodActions(); break; case SCARED: ScaredMoodActions(); break;
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CHAPTER 6 NXT TURTLE
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case TRUSTFUL: TrustfulMoodActions(); break; case ANNOYED: AnnoyedMoodActions(); break; } } } The task contains the Follows(main) statement, telling the system to execute this task after the main has exited. Then there is a perpetual loop, and inside the loop is a switch structure. The variable that enables the various cases of the switch is the mood variable; it represents the actual turtle mood, set as QUIET in the Turtle_init() function and then changed by every different mood-related subroutine. The various cases are labeled with the allowed values that the mood variable can assume. As you can guess from the capital letters, those are human-readable aliases, standing for constant numbers defined at the top of the program in Listing 6-3. The code of this task is quite clean because, instead of placing the statements to be executed in the various moods between the case and break keywords, those statements have been moved into their corresponding subroutines. In every case body, those subroutines are called. The order in which the cases appear in the switch is irrelevant: the actions inside every case are executed only if the mood variable has the same value as the case label. Writing modular code helps you maintain and modify your programs. For example, to add another mood to the turtle s behavior, you just have to add another case to the switch and write the corresponding subroutine for it. Pay attention to planning the whole state machine so as to assure that the every state is not absorbing, meaning that once the machine has entered that state, it will never abandon it. This condition is easily verifiable in the diagram in Figure 6-6, in which every state has arrows that arrive and arrows that leave from it. This concludes the description for the third complex program for your turtle. Now you re ready to build it, and to have fun with your new robotic pet. It doesn t need any food and it doesn t leave any dirt around. Just remember to provide it with fresh batteries!
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Building Your Pet
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The model requires about an hour to build with ease. In any case, building LEGO models is a relaxing activity; why would you ever build something in a hurry I also provided you with a solution to use the NXT rechargeable battery that protrudes by a LEGO-unit out of the NXT s normal height. Just follow the alternative instructions to place the NXT a bit higher, and hold it with the illustrated frame subassembly. Adding the Li-Ion battery doesn t affect the design too much.
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CHAPTER 6 NXT TURTLE
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Figure 6-7. NXT Turtle bill of materials
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CHAPTER 6 NXT TURTLE
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Table 6-1. NXT Turtle Bill of Materials
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Quantity
3 3 1 4 1 2 2 3 1 4 4 6 16 2 1 1 2 1 6 6 17 6 6 6 4 14 4 4 4 10 4 7
Color
White White
Part Number
32524.DAT 40490.DAT 55804.DAT 55805.DAT 55806.DAT
Part Name
TECHNIC Beam 7 TECHNIC Beam 9 Electric Cable NXT 20cm Electric Cable NXT 35cm Electric Cable NXT 50cm TECHNIC Beam 11 TECHNIC Beam 13 Electric MINDSTORMS NXT Motor Electric MINDSTORMS NXT TECHNIC Axle Joiner Double Flexible TECHNIC Beam 5 TECHNIC Beam 7 Bent 90 (5:3) TECHNIC Beam 7 Liftarm Bent 53.5 (4:4) TECHNIC Axle 7 Electric MINDSTORMS NXT Sound Sensor Electric MINDSTORMS NXT Light Sensor TECHNIC Beam 9 Liftarm Bent 53.5 (7:3) Electric MINDSTORMS NXT Ultrasonic Sensor TECHNIC Beam 11.5 Liftarm Bent 45 Double TECHNIC Axle Joiner Perpendicular Double Split TECHNIC Axle 3 TECHNIC Axle Joiner Perpendicular 1 3 3 with 4 Pins TECHNIC Pin Long with Stop Bush TECHNIC Gear 24 Tooth TECHNIC Axle Joiner Perpendicular 3L TECHNIC Beam 3 TECHNIC Axle 3 with Stud TECHNIC Axle 4 TECHNIC Beam 5 Bent 90 (3:3) with 4 Pins TECHNIC Beam 5 Liftarm Bent 90 (4:2) TECHNIC Liftarm Triangle 5 3 0.5 TECHNIC Axle 5
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