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First, I m running this test in my living room. I ve cleared away a chair so I ll have plenty of room for my bot to run. In Figure 12-14, you can see how I ve set up my test run. I ve placed the basket (actually a plastic container with a remote control inside for weight) about six feet forward and three feet left from my bot s starting position. I ve also placed my piece of dark paper to the right of the basket for the bot s Light Sensor to detect. If all goes well with my practice run, my bot should end up at Point D.
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Figure 12-14. Test environment for the SnapShotBot Because I ve been testing my bot frequently, I wasn t surprised that my test run was successful. I knew from previous tests that my bot would enter the library, turn left, take the picture, and move forward until the Light Sensor was triggered. Getting the bot around the basket using a series of three left turns and forward movements worked perfectly. My bot ended up roughly in the area I ve labeled Point D, pointed right and ready to finish its return.
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The hard part is done. All that s left at this point is getting the bot back to you. There are numerous ways to do this, but the one I ve selected uses the Sound Sensor again. If you ll look again at Figure 12-14, my bot is stopped at Point D, pointed to the right (back towards the dotted line where the bot first started its motion into the library). What I plan on doing is programming my bot to continue moving forward (moving to the right in Figure 12-14) until I see it. What I mean by see is that in the real library, the team will be looking through the hole in the wall. When the bot first enters the library and turns left towards the basket, the team will lose sight of the bot. Only when the bot returns and continues to move away from the basket will the team see the bot again. What I plan on doing is simply yelling Stop! The Sound Sensor will detect the noise, and I ll program the bot to stop, turn right, and come back to the hole in the wall. Simple!
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First, you add a LOOP that will break when the Sound Sensor is triggered (see Figure 12-15).
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Figure 12-15. Add in a LOOP block with the Sound Sensor configured. Next, you add in a MOVE block that will keep motors B and C moving until the Sound Sensor is triggered (see Figure 12-16).
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Figure 12-16. The MOVE block will run the motors until the LOOP is broken by the Sound Sensor.
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Once again, we test. I had to adjust the Sound Sensor s sensitivity after my first run. I had it initially set to a value of 50, but I increased that to 80. I believe the sound of the motors spinning was loud enough to trigger the Sound Sensor, so once the bot started rolling, it immediately stopped. Only after I increased the value to 80 did the bot keep rolling until my voice (and loud Stop! ) broke the LOOP block and the bot stopped. The next task is Turn right and move forward to library exit. That should be easy enough. Drop in a MOVE block and configure it for a right turn (see Figure 12-17).
Figure 12-17. This MOVE block turns the bot right. Use one final LOOP block to run motors B and C continuously. You ll simply reach in, grab the bot and turn it off . . . Oh, and get the picture developed. Drop in the LOOP block first (see Figure 12-18).
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