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Figure 20-13. The MOVE block stops motor A to save battery power. After the cage closes, I ve added in another MOVE block that turns off the power to motor A (see Figure 20-14), saving battery power.
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Figure 20-14. This MOVE block turns off power to motor A. Now that the cage is closed, I need the bot to slowly begin pushing the figurine (bottle) until it detects the black obsidian rock floor. For testing, I ve taped a black square of paper to the floor behind the bottle. I ll use a LOOP block that will break when the Light Sensor is triggered (see Figure 20-15). Once again, I test the Light Sensor on the black paper to obtain the correct setting (using the instructions in 4 to use the View option on the Brick). The black paper gives me a value of 3; the floor gives me a value of 12. I will set the Light Sensor to trigger if the value drops below 5. Your values may differ, so testing is absolutely required. I need to drop in a MOVE block to perform the pushing action (see Figure 20-16). I ll have it push forward 3.5 inches at a time (half a rotation).
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Note Notice that motors B and C are frequently changing spin direction. In some instances you might
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think your robot will move forward, but it moves backward. When I had the PushBot spin around 180 degrees, everything changed! Now when I want motors B and C to spin forward, I have to configure their direction differently. It can get confusing, but that s why we test.
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Figure 20-15. The LOOP block will break when the Light Sensor is triggered.
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Figure 20-16. The MOVE block pushes the figurine forward in half rotations.
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Now it s time to upload and test. If everything works as planned, my bot should approach the bottle, stop when the bottle is detected, back up a bit and then spin around, approach the bottle until I tell it to stop, close the cage, and then push the bottle forward until the Light Sensor is triggered. Does it work Not perfectly. That s the great thing about testing frequently. I don t reach the end of my program only to find that I made a mistake very early in the program. The problem is easy to fix. Motor A spins 65 degrees, but sometimes it doesn t spin all the way closed. The motor stalls and the program doesn t continue until motor A finishes its movement and closes the cage completely. My fix is to simply have motor A spin for 1 second. I ll leave the MOVE block in that stops motor A, just in case I later decide to switch back to closing it a specified number of degrees or rotations. Other than that, the PushBot works well. It pushes the bottle onto the black paper (pressure plate) and stops. Now I just need to get it to open the cage, back up a reasonable distance, and perform a couple of movements to put it in front of figurine 2. First, I ll open the cage by placing a MOVE block (see Figure 20-17).
Figure 20-17. This MOVE block opens the cage. Next, I ll get the PushBot to reverse direction a reasonable distance. Referring back to Figure 17-2, I think a safe distance for the bot to pull back would be about 3 feet. I ll test it and tweak that value if I find the bot isn t pulling back far enough. Figure 20-18 shows the MOVE block I ve added. (To configure the distance, I ve converted 3 feet to 36 inches. I divide that by 7 inches the circumference of the tires and I get a value of approximately 5 rotations.) The last few items I need to take care of will get the PushBot in front of the next figurine. The bot needs to turn right, move forward a small distance (about 2 feet), and then turn left. This will position it facing the next figurine.
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