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he PushBot has a LOT to do! Because of this, I want to be absolutely certain that my program works, and I ll be testing it often. To make it easier on myself, I m going to break down the program into three sections. The first section will cover getting the bot to the proper location in front of the first figurine. The second section will cover the programming blocks used to put the first three figurines into their proper locations. And the final section will be devoted to pushing the last figurine up the ramp and onto the Mayan sarcophagus. If you ve built your own version of the PushBot, your program will most likely not match mine exactly. It really depends on how you ve built your bot to complete the challenge. What I ll be doing in the next three sections is walking you through the programming of this last bot so the team can finally enter King Ixtua s burial chamber and see what it contains. So, without any further delay, let s get this bot programmed and ready to go.

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Figure 22-14. The second VARIABLE block s configuration panel Here is where the current value stored in the VARIABLE block is read into the MATH block.

hen programming your robots, you may find many times that you need to perform some basic math in order to properly direct them. While I don t have the space to cover every possible mathematical calculation you may need, I do want to focus on three very simple subjects that you might find useful. The first is converting between degrees and rotations; the second is calculating travel distance based on the number of degrees or rotations you configure; and the third is a very short discussion of how the X/Y coordinate system works on your Brick.

In the Lego Mindstorms NXT software, I ll type PushBot in the blank text field labeled Start New Program and then click Go (see Figure 20-1).

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Figure 22-15. The MATH block s configuration panel The MATH block increments the value stored in the VARIABLE block by 1. Every time Condition 1 is executed, the value stored will increase by a value of 1.

CHAPTER 7 WIRED!

Figure 22-16. The third VARIABLE block s configuration panel After the value increases by 1, it must then be rewritten to the VARIABLE block. Notice in Figure 22-16 that the block is set to the Write option.

Note If the RoboCenter area is visible on the far right of your screen, click the small red X in the upperright corner of the software, and it will free up more visible workspace on your screen.

Figure 22-18. The fourth VARIABLE block s configuration panel After the looping is completed, the value stored in the VARIABLE block must be written the FILE ACCESS block, so make certain the action is set to Read.

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Once again, I am using the Touch Sensor as a Start button for the PushBot. You can choose to use one of the Brick s buttons, but I like the simplicity of running the program and having it wait until I press the Touch Sensor. I ve placed the Touch Sensor in an easy-to-reach place on top of the Brick. The first block I ve dropped in my program is a LOOP block (see Figure 20-2) that will wait for the Touch Sensor to trigger.

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