The Art of LEGO® MINDSTORMS® NXT-G Programming by Griffin, Terry -- Read -- Imperial Library of Trantor

Index

The Art of LEGO® MINDSTORMS® NXT-G Programming

acknowledgments introduction

who this book is for prerequisites what to expect from this book how best to use this book

1. LEGO and robots: a great combination

LEGO MINDSTORMS NXT the NXT online community the LEGO MINDSTORMS NXT kit

NXT versions MINDSTORMS software versions

version 1.0/1.1 education 2.0 retail 2.0

art and engineering qualities of a good program software, firmware, and hardware NXT-G what you’ll learn from this book what’s next?

2. the NXT-G programming environment

a tour through the MINDSTORMS environment

a: work area b: programming palettes c: robo center d: my portal window e: configuration panel f: help panel g: navigation panel h: controller

writing an NXT-G program your first program

saving your work

running your program your second program debugging

reproduce the bug simplify the program look at the parts of the program fix the bug

the edit-compile-test cycle comments

adding comments

the program description the comment tool

rules for working with comments

the configuration panel

general layout changing panels disabled items a block’s configuration icons

conclusion

3. the test robot

right-side motor left-side motor chassis caster wheel

caster wheel for the NXT 2.0 retail kit caster wheel for the original NXT retail kit and education set

attach the caster wheel add the NXT touch sensor bumper attach the bumper to the chassis ultrasonic sensor sound sensor color sensor or light sensor attach the wires the final beam alternate placement for the color sensor alternate placement for the ultrasonic sensor conclusion

4. motion

the NXT motor the move block

the move block’s configuration panel

port direction power duration steering next action

the feedback boxes the NXT intelligent brick view menu

there and back

moving forward turning around testing a single block moving back to the start

around the block

the first side and corner the other three sides and corners testing the program

the motor block brake, coast, and the reset motor block

the CoastTest program a problem with coasting

observing the problem

the reset motor block the record/play block

configuration panel

the remote control tool conclusion

5. sensors

using the sensors the touch sensor

configuration panel feedback box the NXT’s view menu

the BumperBot program

detecting an obstacle backing up and turning around testing

the sound sensor

configuration panel setting the trigger value

BumperBot with sound the light and color sensors

light sensor configuration panel using the color sensor as a light sensor

the RedOrBlue program

determining red and blue values the switch block improving the program

using the touch sensor adding a loop

using color sensor mode

the ultrasonic sensor

configuration panel

door chime

detecting a person playing a chime stopping the chime

the rotation sensor

configuration panel the rotation sensor block

the BumperBot2 program conclusion

6. program flow

the sequence beam the switch block

configuration panel

the control setting the sensor setting setting the condition the display setting

the LineFollower program

the basic program selecting the light sensor trigger configuring the move blocks testing the program

more than two choices

setting the trigger values testing the program

using tabbed view comments and tabbed view

the loop block the keep alive block the stop block

BumperBot3

conclusion

7. the WallFollower program: navigating a maze

pseudocode solving a maze program requirements assumptions initial design following a straight wall

writing the code testing

turning a corner

writing the code testing

going through an opening

writing the code using sound blocks for debugging testing

final test conclusion

8. data wires

what is a data wire? the GentleStop program tips for drawing data wires the SoundMachine program

controlling the volume using the math block adding tone control to the SoundMachine program

understanding data types using the number to text block displaying the tone frequency using the text block adding labels to the displayed values dealing with broken wires conclusion

9. data wires and the switch block

the switch block’s value option rewriting the GentleStop program advantages of using a sensor block passing data into a switch block passing data out of a switch block matching more than two values

adding and removing conditions the default condition

using numbers with the NXT-G 2.0 switch block fixing the SoundMachine program’s volume display

calculating the input value using NXT-G 1.1 calculating the input value using NXT-G 2.0 modifying the program

conclusion

10. data wires and the loop block

the loop count

creating the LoopCountTest program restarting a loop setting the final loop count value setting the loop condition

timers the timer block a programmable timer, version 1 the compare block a programmable timer, version 2 a programmable timer, version 3 conclusion

11. variables

a place for your data managing variables the variable block the RedOrBlueCount program

creating the variables initializing the variables initializing the display displaying the initial values counting the red objects counting the blue objects

grouping common settings replacing long data wires with variables the LightPointer program

defining the variables finding the light source initializing the values the LightPointer program, part 1

finding the light source stopping the motors

the LightPointer program, part 2

constants

managing constants the constant block

choose from list custom working with custom constants

conclusion

12. the NXT buttons and the display block

the NXT buttons the NXT button block the PowerSetting program

defining the variable the initial value and the loop displaying the current value adjusting the power value testing the program making the program faster

the display block

displaying an image power setting with images

displaying the snail and rabbit display the arrow

drawing on the screen

the NXTSketch program

defining the variables initialization drawing the line saving the new location testing the program

fixing the dials for NXT-G 2.0

conclusion

13. my blocks

building bigger blocks creating a my block the custom palette editing a my block configuring a my block changing the name of a configuration item the DisplayNumber block

configuration items controlling the line setting using a data wire building the DisplayNumber block testing creating the DisplayNumber block changing the names of the configuration items

using the DisplayNumber block managing the custom palette sharing programs with my blocks

copying files create pack and go

advanced my block topics

variables and my blocks nesting my blocks broken my blocks adding a data plug

conclusion

14. math and logic

computer math integer math

range of values division

order of operations scaling values

odometer

floating-point math

range precision the number to text block

the random block adding a random turn to BumperBot the logic block adding some logic to BumperBot the range block improving RedOrBlue improving RedOrBlueColorMode conclusion

15. files

using files the file access block

the filename the action setting the type setting saving the RedOrBlueCount data

checking for errors the FileReader program restoring the RedOrBlueCount data managing memory

deleting files transferring files

common problems conclusion

16. data logging

data collection and the NXT the VerifyLightPointer program

collecting the brightness data running the program analyzing the data adding rotation sensor data and a timestamp gaps in the data setting the initial file size

controlling the amount of data data logging using the LEGO MINDSTORMS education NXT software 2.0

the data-logging blocks the VerifyLightPointer2 program the NXT data logging application

conclusion

17. using multiple sequence beams

multitasking adding a second sequence beam avoiding a busy loop adding a sequence beam to a loop block

the crowbar and pin technique adding the sequence beam expanding the loop block making the light flash

understanding program flow rules

starting blocks and data wires starting a loop or switch block using values from a loop or switch block using my blocks

synchronizing two sequence beams

the AroundTheBlock program the DoorChime program

keeping out of trouble conclusion

18. the LineFollower program

following a line

requirements assumptions

the starting point selecting the sensor trigger values

building the LineFollowerConfig program testing the LineFollowerConfig program changing the LineFollower program

reading the high and low values calculating the trigger values using the trigger values testing the LineFollower program adding a pause at the beginning of the program

improving the control algorithm

how far from the edge?

understanding the error value using percent error setting the range value calculating the error value

controlling the motors

using the motor block

setting the power values

understanding the process a few examples writing the code initializing the gain and power variables

testing the program

conclusion

A. NXT websites B. moving from NXT-G 1.0/1.1 to NXT-G 2.0

numbers block changes using old programs side-by-side installation

Index About the Author updates

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