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( condition ); waits for the condition to become false. The until ( condition ); waits for the condition to become true. This implies that the while(condition) is equivalent to an until(!condition), where ! is the unary logic negation operator NOT. Remember that every line of code must end with a semicolon (;).
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The central chunk of code simply plays a file; here, I chose a self-made audio file that I recorded, compressed, and converted to the NXT standard format: RSO. However, you can use any file you want, or you can simply comment out these statements by putting // before the lines of code.
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CHAPTER 2 QUASIMODO
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Note The compiler ignores lines preceded by // or enclosed inside the /* and */ couple; for example:
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//this is a comment until the end of line statement; statement; /* this is a comment on multiple lines */
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Warning! The /* */ cannot be nested! So, the following is wrong:
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/* extern comment /* inner comment whatever */ end of inner comment */ end of extern comment
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Tip You can find the custom sounds I made with the book s source code. You can find the RSO default
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sound files in the \engine\Sounds folder of your official NXT retail or educational version software (for example, C:\Program Files\LEGO Software\LEGO MINDSTORMS NXT\engine\Sounds). You must download the sound files into the NXT memory for the program to find and play them. You can download sounds to the NXT following the directions in Appendix A.
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The Wait statement does what it says: it waits for a given number of milliseconds. If you want to play a file without any other action, Wait is needed because the program flow does not wait for a sound file to be played until the end, and it goes on executing the next instruction even if the sound has not been completely played (this holds for PlayTone too). The third and last chunk of code starts the motor in reverse to let the robot walk away from the obstacle: OnRevReg(OUT_A,55,OUT_REGMODE_SPEED); while (SensorUS(IN_4)>30); Another while loop is now used to wait for another condition to become false; you want to wait for the Ultrasonic Sensor reading to become greater than 30cm. As soon as the obstacle is far enough, the action sequence starts from the beginning of the loop. Although simple, this first program is useful as an introduction to the NXC language, and to demonstrate how you can translate a program made with NXT-G blocks using a few lines of code, which are much faster to write. You ve seen some basic flow-control statements of the NXC language, as while/until loops, and some NXT-specific Application Programming Interface (API) functions, to move motors and to read sensors.
CHAPTER 2 QUASIMODO
Building Your Belfry Hunchback
It s time to build this model now. Quasimodo is the simplest robot of the whole book. It will take just few minutes to build this robot, made only out of parts from the NXT retail set. You can check the bill of materials in Figure 2-13 and Table 2-1.
Figure 2-13. Quasimodo bill of materials
CHAPTER 2 QUASIMODO
Table 2-1. Quasimodo Bill of Materials
Quantity
8 4 6 2 4 1 1 12 8 4 4 2 1 2 1
Color
Light gray White White White
Part Number
32123.DAT 32524.DAT 40490.DAT 55805.DAT 32525.DAT 53787.DAT 53788.DAT
Part Name
TECHNIC Bush 1/2 Smooth TECHNIC Beam 7 TECHNIC Beam 9 Electric Cable NXT 35cm TECHNIC Beam 11 Electric MINDSTORMS NXT Motor Electric MINDSTORMS NXT TECHNIC Beam 3 TECHNIC Beam 5 Bent 90 (3:3) with 4 Pins TECHNIC Axle 5 TECHNIC Beam 5 TECHNIC Steering Link TECHNIC Axle 7 TECHNIC Steering Link 9L Electric MINDSTORMS NXT Ultrasonic Sensor TECHNIC Bush TECHNIC Gear 8 Tooth TECHNIC Friction Pin with Towball TECHNIC Axle Joiner Perpendicular TECHNIC Axle 2 Notched TECHNIC Pin with Friction TECHNIC Pin Joiner Round TECHNIC Pin Long with Friction and Slot TECHNIC Pin Long TECHNIC Pin Long with Stop Bush TECHNIC Gear 24 Tooth
Dark gray Light gray Light gray Dark gray Dark gray Light gray Black
32523.DAT 55615.DAT 32073.DAT 32316.DAT 2739B.DAT 44294.DAT 32293.DAT 56467.DAT
2 4 8 1 4 12 2 16 4 1 4
Light gray Light gray Black Light gray Black Black Black Black Light gray Black Light gray
3713.DAT 3647.DAT 6628.DAT 6536.DAT 32062.DAT 4459.DAT 75535.DAT 6558.DAT 32556.DAT 32054.DAT 3648.DAT
118 parts total (all included in the NXT retail set)
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