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CHAPTER 20 PUSHBOT PROGRAM IT
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Figure 20-8. This MOVE block allows the PushBot to make a right turn. I follow this with another MOVE block for the left turn in Figure 20-9.
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Figure 20-9. And this MOVE block allows the PushBot to turn left.
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I save and upload the program to my PushBot for testing. After testing, the PushBot is lined up properly with the bottle. Now, let s pause here for just a minute and look at where my PushBot is located. Currently, the bot has spun around and is facing the first figurine with the cage in the opened position. What happens next Let me break it down in a small list: 1. Approach figurine 1. 2. Close the cage around figurine 1. 3. Push figurine 1 forward onto pressure plate and stop. 4. Open cage and reverse to starting position. 5. Turn right, move forward a short distance, and then turn left. 6. PushBot is in front of figurine 2. Do you see the pattern It will do the exact same steps for figurine 2 and then end up facing figurine 3. It will perform the steps for figurine 3 with the only difference being that after it opens the cage (step 4) and reverses direction, it will need to be directed to the figurine near the ramp. Because of these repeated steps, I m going to use a LOOP block that will allow me to perform the preceding steps three times, once for each of the first three figurines.
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Positioning Three Figurines
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Before my bot locates and begins pushing the final figurine up the ramp, I ll need it to be stopped in front of figurine 3. Knowing this information will help me to determine what I should place inside the LOOP block I m going to add for the actions needed to push figurines 1, 2, and 3 into position. But first, I ll drop in the LOOP block (see Figure 20-10) and configure it to execute any blocks placed inside it one time. (I ll later change this to three times after testing so it will perform the same actions for three bottles.) Now, the first thing I need the PushBot to do is move slowly toward the figurine and stop when the Sound Sensor detects my voice. I ll use another LOOP block and configure it to break when the Sound Sensor is triggered (see Figure 20-11). During testing I ll fine-tune the sensitivity of the Sound Sensor, but for now I m setting it to detect any sound greater than 50.
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Figure 20-10. The LOOP block for positioning the first three figurines
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Figure 20-11. This inner LOOP block will break when the Sound Sensor is triggered. I ll add in a MOVE block that will slowly move the bot toward the bottle. Figure 20-12 shows that I ve configured it to spin motors B and C .25 rotation (a quarter rotation).
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CHAPTER 20 PUSHBOT PROGRAM IT
Figure 20-12. The MOVE block will spin motors B and C in quarter rotations. Now it s time to upload the program and test it. I had to change the sensitivity of the Sound Sensor to a value of 70; normal noises around my house were setting off the sensor. The bot did a perfect turn and approached the bottle slowly until the Sound Sensor triggered. Now I want the cage to close and hold the bottle. This is done with a MOVE block as shown in Figure 20-13. I configured the MOVE block to spin motor A 65 degrees. In Figure 20-13, I enter a value of 65 for the number of Degrees and I also configure motor A to spin in reverse (to take into account the negative value of the rotation). This was the proper number of degrees required to move the cage from an open position to the closed position. I obtain this value using the View option on the Brick; refer to 4 for a review on how to obtain this reading.
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