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A true right turn, done the same way, should give you the same result (or very close) The number you get for motor B and motor C is the number you ll enter for the Duration setting for the MOVE blocks used to turn the ExploroBot (See Figures 4-14, 4-17, and 4-20 for coverage of the three MOVE blocks used for turning) Go back and enter the number for all three MOVE blocks (two for motor B and one for motor C) Save your changes and upload the updated program to your ExploroBot Keep in mind that your ExploroBot will be different from every other ExploroBot some motors are little more stiff, some less stiff My rubber wheels might behave a little differently on a wood floor versus a cement floor Battery levels will be different There are so many factors that can affect how your ExploroBot operates.

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Xor option: This is a weird one If you select the Xor option, only one plug value can be Yes for a final Yes result to be generated If plug A is Yes and plug B is No, then the final result will be Yes Likewise, if plug A is No and plug B is Yes, the final result will still be Yes However, if plug A and plug B are both Yes, the final result will be No And if plug A and plug B are both No, the final result is No Remember, for a Yes output response, only one of the logic input values can be Yes only one Not option: This is another strange one This option doesn t really return a final value it simply changes the Logic value input for plug A to its opposite.

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Easy enough choose the Read option to read the contents of a file; choose the Write option to write data to a file; choose the Close option to close the file; and choose Delete to delete the file The Name section is where you specify the name of the file you will be working with (you might be writing, reading, closing, or deleting it) If you are creating a new file, keep the name short and unique but descriptive enough so you ll remember what kind of data it holds Good examples are RightTurns (it could hold the total number of right turns a robot makes) and TeamName (this could hold a team s name for use in different programs) The File section will list any files that currently exist on the NXT Brick when the Brick is connected and communicating with the software.

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Don t get frustrated just tweak and tweak and then tweak some more (see my tweaks later in the chapter) At this point, you ll have to do some testing to determine that the right and left turns are as close to 90 degree turns as possible Don t take risks if the bot is off by a few degrees, you ll take the risk that your bot might not go straight and get stuck somewhere where you can t reach it You want the bot to turn as close to 90 degrees as possible and then move forward on a straight path Tweak the individual Duration settings until you re happy that the bot is turning left and right correctly (see Figure 4-22)..

For example, if plug A is Yes, then the output for plug A will be No This option reverses the Logic value for you and nothing else Be aware that plug B is disabled for the Not option Now, let s finish up your sample program If you look back at Figure 17-6, you now have the LOGIC block ready to provide a Yes/No response (using a data wire) If you recall, you are testing to see if the Sound sensor detects a value below 30 and the Light sensor detects a value below 20 If these conditions are both true, then SPOT will be allowed to move forward three rotations If either of these two conditions is not true, SPOT will not be allowed to move So, your next step is to drop in a SWITCH block to test the condition of the LOGIC block.

You can choose a file from this list rather than specifying a new filename The Type section has a drop-down with two options: Number and Text Choosing Number creates a Number section where you can type in a numeric value or use the small buttons to increase or decrease the number (if you are writing to the file) Choosing Text will create a Text section where you can type in a bit of text (also if you are writing to a file) If you are reading from a file, you must specify if you are reading a Number or Text value from the file If the file contains 1234, for example, and you select to read a text value, the data will be treated as text and not as a number.

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