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Figure 26-10. Create a custom icon for your new My Block. Click the Finish button, and that s it. The blocks you selected (in Figure 26-6) are converted to a single My Block that has the name and icon you specified (see Figure 26-11).

Because Exercise 22-1 is rather lengthy, I ll provide a little extra discussion on why I ve used certain blocks. Figures 22-7 through 22-22 provide the complete program and configuration panels for Exercise 22-1.

Figure 19-41. Spin the neck assembly around and place the other small black connector as described.

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Figure 22-7. First half of program and the VARIABLE block s configuration panel The VARIABLE block is initially configured to hold a value of 0. This variable will hold the number of left turns made during the program s execution.

Figure 26-11. Your finished My Block You can access your new My Block by clicking the Custom Palette and moving your mouse over the My Blocks palette tool, which is shown in Figure 26-12 (as you can see, I ve created quite a few My Blocks, and these appear in the fly-out menu).

The PushBot is almost completed. Figures 19-43 through 19-66 demonstrate the steps needed to assemble the final bot. Start with the neck/Ultrasonic Sensor assembly and Brick as shown in Figure 19-43. In Figure 19-43, the Brick s top (where the USB port is located) is to the right.

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Figure 22-10. The RANDOM block s configuration panel. Because I want to make random left or right turns, I ll configure a RANDOM block to generate two values 1 or 2. I ll then use this value with the SWITCH block next.

Figure 26-12. The new My Block appears in the Custom Palette. Although it s beyond the scope of this chapter, you should also be aware that My Blocks can receive and send data via data wires. The key to making this work is that the blocks you want to add to a My Block must have their data wires configured before you select the blocks and choose Make a New My Block from the Edit menu. Any data ports that enter or exit the blocks you have selected will appear as data plugs in your new My Block after you ve created it. You ll have to experiment with this ability to determine what will and will not work for you.

Figure 19-57. Connect the motor/cage-arm assembly to the Brick/neck assembly as shown and place the small black connectors as described.

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Figure 22-11. The SWITCH block s configuration panel Remember to set it to a Number type and change the default values for the two possible conditions to 1 and 2. (See 12 for information on configuring a SWITCH block.)

The SWITCH block will take the value from the RANDOM block (1 or 2) and use this to select a path. Condition 2 will have the robot make a right turn. Condition 1 will have the robot make a left turn. Note that the MOVE block for Condition 2 is not seen in Figure 22-7; this figure shows the SWITCH block s tab for Condition 1.

In 20, I ll show you how I intend to program this PushBot to complete its tasks. Wire up this PushBot (or your own version) and continue reading. You re almost ready to send the bot into the burial chamber . . .

Well, that s it! Okay, not exactly. Although I ve covered all the NXT-G blocks available in your basic software, this doesn t mean you don t have anything left to learn. As more blocks are created by LEGO and third-party developers, you ll have the ability to add new NXT-G blocks to your palettes, and you ll need to play and experiment with them to learn all the functions and features they provide. NXT-G is a great way to learn to program robots. Its drag-and-drop interface is easy to use, and you ll find that some very powerful programs can be created with it. Keep learning, experimenting, and developing new ways to make your robots more responsive, more intelligent, and more impressive. Have fun!

Figure 22-13. The MOVE block s configuration panel for Condition 1 This is the MOVE block that will have the robot make a left turn. In addition to this MOVE block, a few other blocks are required in order to track the number of left turns made.

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