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CHAPTER 2 QUASIMODO
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Before starting programming at full throttle in NXC, it will help you to get familiar first with NXT programming. The first programming environment you will meet is the official LEGO NXT-G software, the one you should have installed from the CD-ROM included in the NXT retail set. If you haven t done so yet, install this software now.
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Connecting the NXT for the First Time
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If you ve never connected your NXT to a PC before, perform the following steps. You can connect the NXT using the USB cable or using Bluetooth. To find out if your Bluetooth dongle or integrated device is compatible with the NXT, check the LEGO MINDSTORMS official page at http://mindstorms.lego.com/Overview/Bluetooth.aspx. 1. Open the NXT-G software and create a new blank program, by clicking the Go button in the Start New Program panel, as shown in Figure 2-6.
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Figure 2-6. The startup panel of the NXT-G software
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2. In the NXT controller (see Figure 2-7), click the top left button to open the NXT window, shown in Figure 2-8.
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Figure 2-7. The NXT controller, which you can find in the right bottom of the software main window
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Figure 2-8. The NXT window, without any NXT devices listed 3. Connect the NXT to the PC using the USB cable. Otherwise, you can turn on the Bluetooth radio of the NXT brick using its menu. Be sure also to turn on the NXT Bluetooth visibility; use the NXT User Guide as a reference. Then, click the Scan button on the NXT window in Figure 2-8. If you re using a USB connection, it should find the NXT at once; scanning takes a bit more time, if you re searching the NXT using Bluetooth. Once the NXT has been found, it shows up in the list, as you can see in Figure 2-9.
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Figure 2-9. The NXT named book has been found using Bluetooth.
CHAPTER 2 QUASIMODO
4. Click the Connect button, and you re asked for a passkey in the Enter Passkey dialog (see Figure 2-10). Use the default number 1234 and click OK. The NXT makes a sound, asking for the passkey. Confirm the connection on the NXT brick, using the same passkey as before.
Figure 2-10. Dialog asking for the passkey for the Bluetooth connection 5. Once the connection is established, the NXT window looks like the one shown in Figure 2-11; the NXT is reported twice in the list in that figure, because both USB and Bluetooth found it. Once an NXT has been connected, it will be present in the list unless you remove it by clicking the Remove button. As you can see, in this panel you can rename your NXT by typing a new name in the appropriate text field and clicking the Enter button. This window also shows some diagnostic information, such as the battery level, the free FLASH memory amount, and the firmware version. Close the panel and you can start programming your robot.
Figure 2-11. The NXT is connected.
CHAPTER 2 QUASIMODO
Programming Quasimodo Using NXT-G
Quasimodo has only one motor and one Ultrasonic Sensor. The robot walks straight until it sees a near obstacle; it moans and backs up until the sight line is free again, repeating this in a loop. You can code this simple sequence of actions using NXT-G software; the result is shown in Figure 2-12. In Figure 2-12a you can see how the program looks when completed. Build the program as follows: 1. Start adding the Loop (b) and set it to run forever. 2. Add a Motor block (c), with the following settings: Port: A Direction: Forward Power: 55 Control: Motor Power checked Duration: Unlimited 3. Add a Wait block (d), with the following settings: Control: Sensor Sensor: Ultrasonic Sensor Port: 4 Until distance < (less than) 20 (cm) 4. Add a Motor block (e), with the following settings: Port: A Direction: Stop Next Action: Brake 5. Add a Sound block (f), with the following settings: Action: Sound File Control: Play Volume: 75 File: Woops Wait for Completion checked 6. Add a Motor block (g), with the following settings: Port: A Direction: Reverse
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