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Let s go back to our friendly bot, SPOT. Once again, let s just pretend that he s got a pair of ears and can understand verbal commands. I m going to give him a set of unusual commands: Me: SPOT, I want you to move forward six rotations, stop, and turn right. [SPOT moves forward six rotations, stops, and turns right.] Me: SPOT, move forward six rotations, stop, and turn right. [SPOT moves forward six rotations, stops, and turns right.] Me: SPOT, move forward six rotations, stop, and turn right. [SPOT moves forward six rotations, stops, and turns right.] Me: SPOT, move forward six rotations, stop, and turn right. [SPOT moves forward six rotations, stops, and turns right.] Now, where is SPOT That s right he s back where he started. The path he followed was square-shaped, and he s once again waiting for my instructions. If you were to create an NXT-G program for SPOT to make this square, you d simply place eight MOVE blocks on the workspace (as shown in Figure 11-1) and configure each MOVE block with the same two settings, right One MOVE block will spin motors B and C for six rotations and the next MOVE block will have SPOT make a right turn. I then repeat this pattern three more times for a total of eight MOVE blocks.
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CHAPTER 11 ROUND AND ROUND
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Figure 11-1. NXT-G program for SPOT to follow a square-shaped path Well, it would work. But it seems like a lot of work just to make SPOT drive around in a square and return to his starting position. Is there a better way Let s see if we can improve the pseudo-code a bit: Me: SPOT, I want you to move forward six rotations, stop, and turn right. [SPOT moves forward six rotations, stops, and turns right.] Me: SPOT, I want you to repeat my first set of instructions three more times. [SPOT moves forward six rotations, stops, and turns right.] [SPOT moves forward six rotations, stops, and turns right.] [SPOT moves forward six rotations, stops, and turns right.] Much better! I only had to tell him the instructions one time and ask him to do them again three more times. It takes just as long for SPOT to perform the movements, but I get to save my voice a bit! In the pseudo-code, I gave SPOT commands, and I set a condition. You should be able to find the commands for SPOT: move, stop, turn right. But what is a condition A condition is simply a rule your robot (SPOT) must follow. So my rule for SPOT is Repeat my first set of instructions three more times. I could have told him to repeat it twice or 60 times; it doesn t matter as long as SPOT knows the rule and follows it. Instead of telling him to repeat it three times, could I have used a different condition Sure, here are some examples: Me: SPOT, I want you to repeat my first set of instructions until your Touch sensor is triggered. Me: SPOT, I want you to repeat my first set of instructions until your internal timer goes over 45 seconds. Me: SPOT, I want you to repeat my first set of instructions forever. Another way to look at it is that I ve given SPOT instructions to do over and over and over until something else happens. It could be that the Touch sensor is pressed or the Sound sensor detects a noise or the time reaches infinity (but trust me, SPOT s batteries won t last that long; eventually he ll stop)!
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