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Figure 11-14. There is now a LOOP block inside a LOOP block. This is called a nested loop, which just means a loop inside a loop. When the program runs, any blocks inside the outer LOOP block will run. First, the inner LOOP block will run three times (executing the MOVE and SOUND blocks inside it) and then break. Then the Light sensor will send a True/False Logic response to the outer LOOP block s data plug. If the Light sensor does not detect a light level greater than 90, the outer LOOP block will not break and will run whatever is inside it again. Notice in Figure 11-14 that there is a data wire connecting the Light sensor to the outer LOOP block. In the Control section of the outer LOOP block, I ve selected the Logic option and programmed it to wait Until it receives a True response from the Light sensor block. If the Light sensor block does not detect a light level greater than 90, the Yes/No data plug sends a False signal to the outer LOOP block, causing the outer LOOP block to loop again. For my final example, Figure 11-15 shows a complicated situation. Can you determine what will happen

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Figure 8-20. This MOVE block returns the StringBot to you. There s no Sound Sensor this time to stop the StringBot, so when it returns to the starting position, you ll have to grab it and stop the program manually by pressing the Cancel button on the Brick. One final programming item I d like to mention is the addition of the STOP block (see Figure 8-21). Although the STOP block isn t really needed in this program, I find it s a good habit to use the STOP block anyway at the end of a program. It s an old habit, but many programmers

And that s it for this short chapter on logic. As I said, you ll get a more detailed description of how to use the Logic data type with the LOOP and SWITCH blocks in s 11 and 12. Now let s change direction in 9 and take a look at some more items that can be used to communicate with the NXT Brick: sensors, buttons, and timers.

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Let s go over each block before deciding what will happen when the program is executed. First, the Touch sensor block is configured to send a Yes signal to the MOVE block s Next Action input port (in Figure 8-7) if the button is Pressed. Next, the Light sensor is configured to send a Yes signal to the MOVE block s Direction input port (also seen in Figure 8-7) if the room s lights are turned on. (Without going into too much detail, I ve set the sensor to detect a light reading of 50 or greater (see Figure 8-8); the Light sensor detects the light level in the room and assigns a value between 0 and 100. If the lights are on and bright enough, the reading will usually be around 70 80, meaning the Light sensor will detect a light value greater than 50 and send a Yes (or True) signal to the MOVE block.) Now, examine the MOVE block s configuration panel in Figure 8-9. I ve configured the MOVE block to spin motors B and C forward and to Coast when done. (The WAIT TIME block will allow the motors to complete their action before waiting for five seconds and stopping the program). So, if the Touch sensor button is pressed (a YES signal), the MOVE block s Next Action input data plug will receive it. A Yes signal tells the motors to Brake. But didn t I use the configuration panel to set the motors to Coast Yes, but the configuration panel s setting will always be ignored if a wire is used to receive a signal. So, the Yes signal will override the Coast configuration panel setting and have the robot brake instead.

will tell you that it s still a good habit. In some programs you ll create, the STOP block is good to have because it will tell the Brick to exit the program and you won t have to press the Cancel button on the Brick.

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