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CHAPTER 25 MESSAGES
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Now, this is a great way for one NXT brick to send a single item to another brick. One NXT brick could, for example, monitor the number of times the Touch sensor is triggered and send this value to another robot. But what if you want to send even more information What about sending the Light sensor s value as well as the number of rotations motor B has made to the second robot Is this possible Well, if you think of each potential message as a variable (covered in 18), then the answer is Yes. The SEND MESSAGE and RECEIVE MESSAGE blocks allow for up to ten unique messages to be sent back and forth between bricks using a concept called mailboxes. Each NXT brick has ten mailboxes, and each mailbox is numbered. The first mailbox is called Mailbox 1; the second mailbox is called Mailbox 2, and so on. If you look at the configuration panel for the SEND MESSAGE block, you ll see that the last section is called Mailbox, and it contains a drop-down menu. Select this drop-down menu, and you ll see that you can select from numbers 1 to 10. It s simple! When you place a Text, Number, or Logic value in Mailbox 3, for example, that value is held in that mailbox (remember, a Text value can be a single character or multiple characters but is still considered a single value to a mailbox). Up to five values can be held per mailbox, but the values held must be of the same type (Text, Number, or Logic). If, for example, a SEND MESSAGE block attempts to put a sixth value in Mailbox 5, the first value inserted into Mailbox 5 drops out and is lost. So be careful about putting too many values into a Mailbox before they are retrieved! Now, can you guess how the other robots will retrieve a value held in a mailbox If you said by using a RECEIVE MESSAGE block, you re right. Take a look at Figure 25-7, and you ll see the RECEIVE MESSAGE block and its configuration panel.
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Figure 25-7. The RECEIVE MESSAGE block and its configuration panel
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CHAPTER 25 MESSAGES
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The RECEIVE MESSAGE block works similarly to the SEND MESSAGE block. Select the mailbox number from the drop-down menu in the Mailbox section. Again, the mailboxes are numbered 1 to 10. You must also select the type of data you are expecting to receive from the SEND MESSAGE block (Text, Number, or Logic) in the drop-down menu in the Message section. You ll notice that in the Message section there is a Compare to text box. If you enter a value in this box, a True or False logic value will be determined, and using an output data wire, you can obtain this logic value to give it to another block. For example, if Mailbox 3 is holding a Number data type value of 250, your RECEIVE MESSAGE block is configured to read a Number value from Mailbox 3, and you ve entered 250 in the Compare to text box, a True value will result from the comparison. Now, for a quick example of a simple program, let s take the following pseudo-code and convert it to an NXT-G program: Me: SPOT, move forward until your Ultrasonic sensor detects an object at least 10 inches in front of you. Me: Read the value on your Light sensor. Me: Send the Light sensor Intensity value to SPOT2 using Mailbox 3. As you can see from Figure 25-8, I ve created a simple program that causes SPOT to start moving forward (unlimited duration) while monitoring his Ultrasonic sensor. When the Ultrasonic sensor is triggered, the second MOVE block stops motors B and C. The Light sensor takes a reading, and this value is sent to the SEND MESSAGE block using a data wire configured to hold a Number value.
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Figure 25-8. A program using the SEND MESSAGE block Now, if I have a second robot (called SPOT2), I can convert the following pseudo-code into another NXT-G program that will obtain the Light sensor value: Me: SPOT2, check Mailbox 3 for a Number value.
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