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hat is the difference between the following two questions:
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What color is the sky Is the sky blue Well, there are a lot of differences: the first question has five words and the second one has four words, for example. My real point in asking these two questions is to point out that the first question is open-ended; the sky could be blue, or gray, or any number of answers. The second question, however, only has two possible answers: yes or no. When it comes to programming your robots, you need to understand that many times your robots can only provide you with those two answers: yes or no. At other times, your robots can understand only a yes or no answer. Understanding how to take a yes/no answer and use it to properly program your bots is the focus of this short chapter.
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Let s have a question/answer session with SPOT: Me: SPOT, what color is the box in front of you [SPOT sits there and gives no response.] Me: SPOT, what is the position of your Touch sensor button [SPOT still sits there and gives no response.] Hmmm . . . SPOT doesn t seem to be to responsive today. I seem to remember, however, that SPOT prefers yes/no questions, so let me try this again: Me: SPOT, is the color of the box in front of you blue SPOT: Yes [appears on the LCD screen] Me: SPOT, is your Touch sensor button pressed SPOT: No [appears on the LCD screen] OK, now we re getting somewhere. SPOT does prefer to communicate with me using yes or no answers. Another way of saying this is that SPOT prefers to communicate using logical responses; a logical response is simply Yes or No.
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CHAPTER 8 TRUE OR FALSE
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Note Some computers and robots use True or False, but it s all the same: Yes = True and No = False.
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Some computers and robots even use 1 or 0 as a logical response, where 1= True and 0 = False. There s even another method: On or Off! In that case, On = True and Off = False. But for the purposes of this chapter and programming, let s stick with either Yes/No or True/False.
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Let s have another conversation with SPOT: Me: SPOT, is your Ultrasonic sensor detecting an object 6 inches in front of you SPOT: True. Me: SPOT, is your Right button being pressed SPOT: False. Apparently, SPOT s sensors have the ability to return a logical response to SPOT that he can pass along to me. SPOT listens to his sensors conditions and responds with True or False. What does all this have to do with programming, though Here s your answer: your NXT robots can send and receive logical responses to and from the sensors, motors, buttons, and other items. As an example, take a look at Figure 8-1.
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Figure 8-1. The Touch sensor s configuration panel
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CHAPTER 8 TRUE OR FALSE
What you are looking at in Figure 8-1 is the TOUCH SENSOR block and its configuration panel. Notice also that the TOUCH SENSOR block has its data hub visible (see 7 for a discussion on data hubs and 9 for a more detailed discussion of the sensors). If you are only seeing one data output plug on the data hub, click the data hub again to expand it to its full size. On the data hub, you ll see some small input and output data plugs. If you hover the mouse pointer over the third plug from the top, the words Yes/No will appear. What this tells you is that this data plug can provide output (using a data wire) in the form of a Logic data type. But how do you know if the output will be Yes or No Simple the answer is based on what you are monitoring with the sensor. In Figure 8-1, notice that the Touch sensor s Action section has the Pressed option selected. This means that if the Touch sensor s button is pressed down (and not released) the Yes/No Logic plug would provide a Yes answer. If the button is not pressed, the Yes/No Logic plug will provide a No answer. Think back to 7; I told you that when you connect two blocks with a wire, the input and output data plugs must be carrying the same data type. In this case, if you wish to connect a wire from the Yes/No data plug, it must be going into a block that has a Logic data type input plug. As an example, take a look at the new block in Figure 8-2.
Figure 8-2. I ve dropped a VARIABLE block on the beam. This new block is a VARIABLE block. I cover this block in more detail in 18, but for now all you need to know about the VARIABLE block is that it can hold one of the three data types: Logic, Number, or Text. In Figure 8-2, I ve configured the VARIABLE block to hold a Logic
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