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What s Your Condition
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Let s start with the word condition. A traffic light has three conditions: red, yellow, and green. A light switch has two conditions: on and off. Just using these two simple examples, I can give you some pseudo-code for SPOT: Me: SPOT, move forward until the traffic light turns red. Me: SPOT, display the words Light On on your LCD screen until the light switch is off. In both these examples, I m assuming that SPOT has eyes and can see the traffic light or light switch. If SPOT doesn t have eyes, then I would need a way for the traffic light or light switch to provide their conditions to SPOT. The traffic light and light switch could then provide feedback, or input, to SPOT. Asking a traffic light to provide input isn t realistic, but your NXT robots do have the ability to receive feedback from items such as the sensors. So I can change the pseudo-code for SPOT: Me: SPOT, move forward until the Light sensor reports a value of 20. Me: SPOT, display the word Hello until the Touch sensor reports that it has been pressed and released (also known as bumped). Me: SPOT, play a C note when the Ultrasonic sensor detects an object six inches in front of you. The motors, too, can provide feedback: Me: SPOT, spin motor A until motor B reports that it has spun ten degrees. Me: SPOT, display 5 rotations when motor C has rotated five times.
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CHAPTER 9 FEEDBACK
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I mentioned that the Brick has three built-in timers plus three buttons that can be used, so I could also write the following pseudo-code: Me: SPOT, when 20 seconds have elapsed, turn 90 degrees. Me: SPOT, play a B note if I press the left button and a C note if I press the right button. Okay, so you can see that the sensors, motors, buttons, and timers can provide input to the Brick to control other actions (MOVE, SOUND, and other blocks). You program your robot to perform specific actions based on the conditions of these items. Just like you know a light switch has two conditions, on and off, you need to know the various conditions that the sensors, buttons, timers, and motors possess and can report to the Brick. So, for the rest of this chapter, I m going to explain the settings for these items, so you ll know how to configure them properly. Future blocks that we ll cover, including the WAIT, LOOP, and SWITCH blocks, will depend on your understanding of how to properly configure the conditions. The method I m going to use to do this is fairly simple: I ll describe each item (sensor, motor, button, and so on) and provide a description of the settings that can be modified within the item s configuration panel. Please note that I am also providing information on the so-called legacy items: the previous version of Mindstorms (Robotics Invention System, or RIS) included motors, sensors, and a lamp. These RIS items can be used with NXT robots but require special converter cables to connect to the NXT Brick. I call them legacy because they come from the older Mindstorms system, but they are still very useful and fully compatible with the NXT system.
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Note Right now, only the education version of the NXT kit comes with software support for the legacy/RCX
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items. If you are running the retail version, you may download NXT programming blocks for the RCX motors and sensors by visiting http://mindstorms.lego.com/Support/Updates/. Click on the Patches option along the left side of the screen and download the files from the Legacy Block section for your specific language (English, German, French, Japanese, and Dutch are the only options currently available).
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