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Figure 8-6. This program uses the Touch sensor to control the motors spin direction. This program doesn t do much other than spin the motors forward or backward for ten seconds, depending on whether the Touch sensor button is pressed. When I run the program, if I hold down the Touch sensor button the motors will spin in the forward direction for ten seconds before the program ends. You can see in the Touch sensor configuration panel in Figure 8-6 that I could have changed the Action to Released by selecting that option. If I had done this, what do you think would happen if I pressed the button when I started the program Think about it for second if the Action the Touch sensor is testing for is set to Released, then when the button is pressed, it is not released, right That means the Touch sensor will send a No signal (or False) to the MOVE block. A No signal means the motors will spin backwards! You ll learn all about the various sensors and how they work in the next chapter. Once you ve got a good grasp of their functions and how their data hubs work, you ll be able to use wires to send Yes and No signals to other blocks and give your robots some amazing decision-making abilities. Your robots will be able to interact with objects, avoid walls, detect light or dark rooms, and much more. And many of these abilities hinge on your robot being able to use Yes and No logic responses to make decisions.

Figure 8-18. The StringBot program had a big mistake that could have spelled disaster. On the fourth or fifth practice return trip, my phone rang. The Sound Sensor picked up the ringing of the phone and the StringBot stopped. That s what it s supposed to do, right Well, my StringBot had only traveled about six inches. If this were the real situation, my StringBot would be stuck in the middle of the room without any way to retrieve it! I might have been able to rig up something to reach out and grab it, but maybe not. Fortunately, I was testing the StringBot in my kitchen. I just walked over and grabbed the StringBot and brought it back to its starting position. If I had only performed the test once or twice, I would probably not have caught my mistake. So, let me repeat it again and again test your bot, and test it often. Once I caught this mistake, I deleted that final LOOP block. In its place, I used another LOOP block. This one I left set to loop Forever (see Figure 8-19).

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Figure 11-13. The Light sensor is added to the program. But now I ve got a problem. If you follow along with the program, you can see that the LOOP block will run three times: the MOVE and SOUND blocks inside it will execute three times and then the LOOP breaks. Then the Light sensor is tested. If the Light level is greater than 90, the program ends. But what if the Light level is less than 90 How do I make the program run again One option is to simply have SPOT run the program again. I ll have to press the Enter button on the Brick to run the program again, but this will work. It will also be very annoying. There ought to be an easier way, and there is. Take a look at Figure 11-14, and you ll notice that the entire program I just created is now inside another LOOP block.

Before we move on to 9, I ve got an exercise for you that should help you better understand how to interpret a Yes/No signal and determine what it will do. If you get stumped, I ve provided the answer at the end of this chapter. Figure 8-7 shows a small program I ve created and the four configuration panels for the four NXT-G blocks. Examine it and determine what actions the robot will take given the following situation: Touch sensor button is NOT pressed Light sensor detects the room s lights are turned on

Figure 8-19. Set the last LOOP block to loop Forever. Now place another MOVE block inside this LOOP block and configure it with a Duration set to Unlimited and a Power of 50 (see Figure 8-20).

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