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Figure 10-9. The TIMER WAIT block and configuration panel In this example, the WAIT block has been configured to wait until Timer 2 exceeds 20 seconds. All timers start counting immediately when you run a program. So once you press the orange Enter button on the NXT Brick to run a program, this WAIT block will wait until the value read from Timer 2 equals 20 before the program continues. When this occurs, the motors will stop spinning, and SPOT will stop moving forward. Later, you ll learn how to reset the timers, but for now, you just need to know that there are three timers Timer 1, Timer 2, and Timer 3 and all start counting when a program starts.

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the range of 0 to 100. If you connect a wire to the MOVE block s Power input data plug and it receives a value greater than 100, that value will automatically be reduced to 100. Just be aware that the fact that a block can receive a number value doesn t mean that value will be accepted.

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Figure 7-38. String up your StringBot. Once you ve got the StringBot programmed, this little fellow will move forward on the string, stop when you tell it to stop, and then move slowly towards the jar until you tell it to stop for the final time. At this point, the carrier arm will drop whatever object it is holding, pause for a few seconds, close the arm, and then return to you. Simple! 8 will show you how to program the StringBot to do all this . . . and more. I m going to give you some ideas on increasing the functionality of the StringBot with some additional programming. Once you ve got your StringBot working, you ll fill that jar with some coins or small rocks to trigger the pressure plate the trapped floor won t be dangerous anymore and the expedition crew will be able to cross the room and continue investigating the tomb.

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When you are programming, the only data that can be passed to and from a block are text, numbers, and logic types (Yes/No or True/False) only these three! And just as your CUP block wouldn t let you use a logic keyboard to type in the color, a block s input and output data plugs will be very picky about the types of data they accept. The good news is that if you ever drag a wire from one plug to an incompatible plug (if you try to drag a wire from a Text plug to a Logic plug, for example), the wire will be broken. By that, I mean that the wire will become a dashed gray line, indicating that you made a mistake. You can see this in Figure 7-11.

he StringBot is a unique little bot. When you ask someone to describe a robot, my guess is that he or she will probably have a mental picture of a wheeled robot or a bot with legs. Our StringBot has neither it s going to move along a string. But whether your bot has wheels, legs, or some other method for moving, it has to be programmed properly to accomplish its desired tasks. The StringBot needs to move along a string, successfully drop a small object into a jar, then return to you. This chapter will show you how to make that happen.

CHAPTER 10 WAIT FOR IT!

CHAPTER 7 WIRED!

In 4, you used the MOVE, WAIT, and LOOP programming blocks to get the ExploroBot to complete its task. For the StringBot, you re going to use these same blocks. With the ExploroBot, you used the Ultrasonic Sensor, but with the StringBot, you re going to use the Sound Sensor. Just like you started doing in 4, I m going to ask you to refer back to your completed Design Journal page for the StringBot to help determine the proper blocks to use. Go ahead and get the StringBot Design Journal page out and open up the Lego Mindstorms NXT software (see Figure 8-1).