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In this mode, you can make JohnNXT follow dark lines on light ground. The robot doesn t start going around at once: first, you are asked to sample the dark and light values from the bottom Light Sensor. The actual reading is shown on the NXT display. Place the JohnNXT line-tracking sensor on the line (dark) and press the left arrow button, then place it on the ground (light) and press the right arrow button. This way, the sampled values are stored and used to calibrate the line-following algorithm. Press the orange button to start the line-following routine, and press it again to come back to the JohnNXT menu. If you don t calibrate the sensor readings, two default values for light and dark will be used.
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In Hand Following mode, JohnNXT centers the head and then swings it left, center, right, center, and so on continuously, while staying still in place. When the Ultrasonic Sensor detects your hand, the robot will drive towards you, going straight or turning according to the actual position of the head. If the hand is really near, the robot will drive away from you.
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In this mode, you can control the arms position with sound pulses for example, clapping your hands. When entering this mode, JohnNXT measures the ambient noise (so please keep silent for a short while) and folds its arms; then he waits for sharp sounds, which represent the commands you can give him: One sound: The arms are folded Two sounds: The arms are unfolded a bit, so they are vertical Three sounds: The arms are completely unfolded, but the hands are still closed Four sounds: The hands are open Five sounds: The wrists are rotated Try clapping your hands and observe the text shown on the NXT screen: with every clap, a new arm state is chosen. If you stop clapping, the arms are moved into the state whose name is shown on the display. For example, consider starting with folded arms; clap two times and the arms are unfolded a bit; three claps unfold the arms, keeping the hands closed; and five claps (the maximum number) cause the hands to open and the wrists to rotate. A single clap brings the arms to their folded position again. So, you can go from every state to another. Notice that you must produce the sound sequence with a constant timing, otherwise the robot won t behave as you would desire. For example, if you want to open the robot s hands starting from the state where the arms are folded, you must clap your hands five times. If you start clapping at a certain rate, but either the Sound Sensor fails to detect a clap, or you slow down the clapping rate too much, the robot will assume that the sequence is finished, and it
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CHAPTER 8 JOHNNXT IS ALIVE!
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will move the arms according to the number of sounds detected up till that moment. The procedure is simple and reliable, but it needs a bit of practice!
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In this mode, JohnNXT performs a complete demonstration of its features. A sound loop is played, while JohnNXT moves right in time with it. It s a pity that I could not fit, in this smallscale model, a last feature that would be cool: making Johnny stand on his tread tips would make his dancing performance perfect!
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Programming JohnNXT
It s time to make JohnNXT come alive! A pedantic, detailed description of more than 1,600 lines of NXC source code that make up the JohnNXT programs (master and slave) would be at the least boring for me to write, but more so for you to read. For this reason, I ll focus only on the programs outlines and on their interesting aspects. Many solutions adopted for the JohnNXT programs have already been explained in detail in the preceding chapters. I can say for certain that this chapter s programs are a big summary of all the programming techniques shown in this book. I won t go back to basics to discuss the FSM that implements the autonomous behavior, the servomotors automagic built-in limit switch technique that was mentioned before, the linefollowing routine (like the one seen in 6), and other minor trivial aspects. In particular, I ll spend some time discussing the overall program s structure and the sound counting routine, used to control the arm movements. You can download the complete code for JohnNXT from the Source Code/Download area of the Apress web site at http://www.apress.com.
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