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Notice also that the TOUCH SENSOR block has its data hub visible (see 7 for a discussion of data hubs and 9 for a more detailed discussion of the sensors) If you are seeing only one data output plug on the data hub, click the data hub again to expand it to its full size On the data hub, you ll see some small input and output data plugs If you hover the mouse pointer over the third plug from the top, the words Yes/No will appear What this tells you is that this data plug can provide output (using a data wire) in the form of a Logic data type.

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Figure 11-2. A new NXT-G program for SPOT to follow a square-shaped path The LOOP block, by itself, is very boring. By default, it is set to loop forever; you can see this in the Control section of the LOOP block s configuration panel. Right now, any block that I drop inside the LOOP block will keep repeating, over and over. Let me give you an example.

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But how do you know if the output will be Yes or No How do you know what it means when a sensor returns one answer or the other Simple the answer is based on what you are monitoring with the sensor In Figure 8-1, notice that the Touch sensor s Action section has the Pressed option selected This means that if the Touch sensor s button is pressed down (and not released) the Yes/No Logic plug will provide a Yes answer If the button is not pressed, the Yes/No Logic plug will provide a No answer..

Figure 8-8. This MOVE block runs the motors at high speed. After the Sound Sensor is triggered, you want the motors to stop. Figure 8-9 shows the program so far.

Think back to 7; I told you that when you connect two blocks with a wire, the input and output data plugs must be carrying the same data type. In this case, if you wish to connect a wire from the Yes/No data plug, it must be going into a block that has a Logic data type input plug. As an example, take a look at the new block in Figure 8-2.

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Note When dropping a block inside a LOOP block, continue to hold down the mouse button and move the

our ExploroBot looks nice, but it really doesn t do much yet, does it That s about to change. In this chapter you re going to create the program that sends the bot down the tunnel (and back) to trigger the locked tomb door. So, let s get started.

Figure 8-2. I ve dropped a VARIABLE block on the beam. This new block is a VARIABLE block. I cover this block in more detail in 18, but for now all you need to know about the VARIABLE block is that it can hold one of the three data types: Logic, Number, or Text. In Figure 8-2, I ve configured the VARIABLE block to hold a Logic value. I ve also opened the data hub, so you can see that it has a Yes/No input data plug. All that I need to do is connect it to the TOUCH SENSOR block with a wire (see Figure 8-3).

This chapter isn t about teaching you the basics of the software. Included with the Lego Mindstorms NXT software is a collection of software tutorials. At this point, I m making the assumption that you ve built the bots included with the Mindstorms NXT kit and you ve gone through the tutorials for programming the bots. During these tutorials, you received some basic skills in selecting programming blocks, dropping them into the workspace, and configuring the blocks. In this chapter, I m going to show you how to use your completed Design Journal sheet for the ExploroBot to help you construct the program, block by block. So go ahead and open up the Lego Mindstorms NXT software (see Figure 4-1).

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