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CHAPTER 23 CALIBRATION
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CALIBRATE block. This bit of NXT-G code can be placed at the beginning of your NXT-G program for your robot. Now, the first thing I do is place the robot in the darkest (or least lighted) area of the room. When I ve done this, I press the Touch sensor button. This allows the first CALIBRATE block to obtain the minimum value for the room. Next, I take the robot and place it in the brightest area of the room. I press the Touch sensor button, and the second CALIBRATE block obtains the Maximum value for the room. And that s it! Now, if I ve programmed my robot to use the Light sensor at any point in its program, the Light sensor should react properly based on any conditions I ve programmed (such as Turn Left if the Light sensor obtains a value over 30 ). For the Sound sensor, I perform the exact same steps. Figure 23-3 shows the same NXT-G code but with the Sound sensor configured for calibration.
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Figure 23-3. Calibrating a Sound sensor In this example, I would try to place the robot in the quietest point in the room. This could be difficult, as I cannot predict factors such as observers or other potential sources of sound, but I ll do my best. I press the Touch sensor button, and the first CALIBRATE block will obtain the Minimum value for the Sound sensor. Next, I ll place the robot in what I think will be the noisiest part of the room and press the Touch sensor button. The Maximum value for the Sound sensor is now set. One thing to note with the Sound sensor is the proximity of the sensor to the NXT motors. Keep in mind that when your robot is using any or all of its motors, the sound from the motors can influence the Sound sensor if you have programmed it to use the sound level for decision making. You ll have to experiment and test your robots to determine the proper settings to configure for your Sound sensor triggers. You might program SPOT to turn left if the sound level is less than 20, but the sound coming from the NXT motors might cause the Sound sensor to evaluate the sound level as 22 or 23 when all other conditions are correct for a left turn. That s why it always pays to test, test, test.
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CHAPTER 23 CALIBRATION
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Well, that does it for the CALIBRATE block. In 24, I m going to show you how to program your bot to reset its motors, which is useful if you are monitoring motor rotation, for example. Keep reading to find out how it works.
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his chapter covers the extremely simple RESET MOTOR block, which only does one thing, 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. So let s briefly cover the RESET MOTOR block, and I ll explain how it works.
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The RESET MOTOR Block
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The RESET MOTOR block is shown in Figure 24-1 along with its configuration panel.
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Figure 24-1. 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. And 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
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