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Figure 4-10. The braking pseudo-code has been converted to a NXT-G program for SPOT. Now, when I upload and run this program, SPOT rapidly moves forward 10 rotations (about 6 feet) and comes to a quick stop. Let s try a different test: SPOT, move backward 720 degrees at a Power of 100, and then Coast.

values for a sensor, choose the Delete option to delete the current settings, and then use additional CALIBRATE blocks to obtain new values The Value section is where you will choose to Calibrate or Delete the Minimum or Maximum value This is important to remember: one CALIBRATE block is required to calibrate (or delete) the minimum value and an additional CALIBRATE block is needed to calibrate (or delete) the maximum value However, if you choose to only one CALIBRATE block, the good news is that calibrating one value (the minimum value, for example) will automatically calibrate the other value To be safe, though, it s probably best to always use one CALIBRATE block for the minimum value and another for the maximum value There is one additional feature of the CALIBRATE block you need to know about, and it relates to multiple Sound or Light sensors.

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This time, I want SPOT to move in reverse, and I want the motors in Ports B and C to spin for 720 degrees. I want him to move very fast, so I ve set the Power setting to 100. I don t need him to stop at a specific point, so I ll let him coast to a stop. See Figure 4-11 for the block programming of the pseudo-code.

Note Every Ultrasonic Sensor is different, and your Ultrasonic Sensor will have a slightly different sensitivity than my Ultrasonic Sensor. Because of this, you need to test your bot and record your own results. The final value for my Ultrasonic Sensor (< 4 inches) may or may not work with your GrabberBot! Although the Ultrasonic Sensor is fairly accurate, always test with your own values, not the ones I am using just to be safe!

Figure 4-11. A new coasting program for SPOT After I uploaded and ran this program, I watched as SPOT moved even faster in reverse for 720 degrees (about 15 inches). But this time, he didn t stop right away; he continued to roll for a few more inches, because I programmed him to coast to a stop. Now, it s your turn. Using what you ve learned in this chapter, create some different programs for your robot. When you re finished, I have another test for you to run: Program your robot to move forward for 10 rotations at a Power setting of 50, and set it to Brake. Place a piece of tape on the floor, and make this your robot s starting position. Now, run the program, and mark its stopping position with tape as well. Next, run the same program, but change the Brake option to Coast. How far did it go beyond the previous stopping position Finally, reduce the Power setting a little bit, and run the program again (with the Coast option). How far did it go beyond the stopping position this time Keep reducing the Power setting and running the program until the robot stops at the original stopping position. Why am I asking you to do this Recall that I told you that the Brake option uses up battery power. This test shows you that you can save battery power by reducing the Power setting and keeping the Coast option. Running tests like this will help you to figure out how best to program your robot to save battery power and to correctly perform its programmed actions!

At this point, my bot will now move down the tunnel and stop about 2 feet in front of the scroll. It then begins to move slowly toward the scroll (stopping and pausing every 3 inches) until the Ultrasonic Sensor detects the wall and triggers the bot to stop. Now my little bot s lifting arm is directly under the scroll and ready to lift it up and return it to me.

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