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CHAPTER 24 MOTORING
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The RESET MOTOR Block
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The RESET MOTOR block is shown in Figure 24-4 along with its configuration panel. It does just one thing reset a motor s internal record-keeping (for how many rotations a motor has made), and that one thing is something you may rarely (or never) use. I have actually never found a strong use for it, but who knows This may very well be the one block that you ve been looking for to make your new robot function properly.
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Figure 24-4. The RESET MOTOR block and its configuration panel One of the first things you might notice about this block is that its configuration panel is extremely simple. You simply check the ports for the motors (A, B, and/or C) on which you wish to use the RESET MOTOR block. Why would you want to do this I ll explain. One of the great things about the NXT servo motors is the ability to pair them, so your robots can move in a more accurate straight line. The Brick sends the proper signal to motors B and C (I m assuming you re using B and C for your movement control) and ensures that they spin at the same rate. By doing this, your robot is able to travel in fairly accurate straight lines. Imagine if one motor was spinning a little faster or farther than the other your robot would end up moving in a not-so-straight line. Also, by pairing the motors, you can ensure that both motors are spinning with the same duration, such as 300 degrees or 2.5 rotations. This behavior is one of the advantages of the NXT motors. Take a look at the following pseudo-code: Me: SPOT, move forward 360 degrees and wait 3 seconds. Me: Now, move forward 270 degrees and wait 3 seconds. Me: Now, move forward 90 degrees and stop. The NXT-G program for this pseudo-code looks like the one shown in Figure 24-5.
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CHAPTER 24 MOTORING
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Figure 24- 5. An NXT-G program to move SPOT In the program, I ve added three MOVE blocks and a couple of WAIT blocks. The first MOVE block moves SPOT forward 360 degrees, and then SPOT waits for 3 seconds. The second MOVE block moves him forward 270 degrees, and then he waits for 3 more seconds. Finally, the third MOVE block moves him forward 90 degrees, and he stops. In all, SPOT has moved forward 720 degrees, or 2 rotations, for motors B and C. Now, I also configured the first two MOVE blocks to Coast in the Next Action section and the third MOVE block to Brake. I did this because I want to demonstrate a little trick that your NXT Brick and its motors perform. Let s say that after SPOT s first MOVE block executes, SPOT actually rolls forward 380 degrees with the slight coast. On SPOT s second movement, he rolls forward 278 degrees with the coast. Now, if SPOT s final movement forward is 97 degrees, he will have moved a total of 755 degrees, not the expected 720 degrees. But if you upload this program to SPOT and run it, you ll find that SPOT will actually move forward 720 degrees, or 2 rotations. How The Brick and motors keep track of the distance SPOT coasts (by continuing to monitor the number of rotations the wheels make during the coasting) and reduce the final movement of the third MOVE block (configured to Brake) to a value of 62 degrees, not 90 degrees. By reducing the final MOVE block to 62 degrees, SPOT is still able to move forward a total of 720 degrees with accuracy (if the final MOVE block was set to Coast instead of Brake, this accuracy could not be guaranteed). It is this error correction that the Brick and motors provide that allows your robot to make very precise movements. What if you don t care about the preciseness of the moves and want to shut off the error correction activity of the Brick and motors Well, that s where the RESET MOTOR block comes into the picture. Take a look at Figure 24-6, and you ll see SPOT s original program slightly modified.
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