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But for now, let s just assume for the moment that SPOT can pick his own numbers Now, since there are five potential numbers (1, 2, 3, 4, and 5), there are five potential actions that can be taken Throughout the remainder of this chapter, I m also going to use the term path instead of action, because the SWITCH block will allow your robots to choose from different paths available to them Depending on the path a robot selects, different actions will occur One path can have your robot moving forward, checking its Ultrasonic sensor for an object in front Selecting a different path might send the same robot in the reverse direction, waiting for its Touch sensor to be pressed and counting the number of rotations the motors spin That s the great thing about the SWITCH block.

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Figure 6-7. The Wait section of the SOUND block If you place a check in the Wait for Completion box, the Sound File or Tone you choose will play completely before any further programming blocks are executed. Let me give you an example using pseudo-code: SPOT, play me a C note for 10 seconds and then move forward 5 rotations. Now, here s how I will convert the pseudo-code into a NXT-G program. First, I drop in a SOUND block and configure it to play a C note for 10 seconds (see Figure 6-8). I m going to leave the Wait for Completion box unchecked and set the Volume to 75.

Get your SnapShotBot Design Journal page and open up the Lego Mindstorms NXT software. Type SnapShotBot into the blank text field labeled Start New Program, then click the Go button (see Figure 12-1).

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Each potential path choice can have unique programming blocks that give your robots even more power (And you can add another SWITCH block to a path, creating another set of paths for your robot to choose from! It s like nesting LOOP blocks but instead you re putting a new SWITCH block into an existing SWITCH block).

Note To have more work space visible on your screen, close down the RoboCenter area on the far right

Figure 6-8. SPOT will first play a C note for 10 seconds. Next, I m going to drop in a MOVE block (see Figure 6-9). I ll configure this MOVE block to spin motor B and motor C FORWARD for 5 rotations and then Brake. I m also going to set Power at 50.

Now, before I show you how the SWITCH block works, I need to mention one special item in the SWITCH block s configuration panel. Take a look at Figure 12-2.

In the SnapShotBot building instructions in 11, you might have noticed I placed the Touch Sensor on the back of the bot. I plan on using the Touch Sensor as a sort-of Start

Figure 12-2. Flat view for the SWITCH block When using the SWITCH block, you need to choose between Flat view and Tabbed view. When using Flat view, you need to leave the Flat view box checked (as shown in Figure 12-2). Flat view does have a limitation that you need to be aware of, however. When using it, you can program only two paths. Notice in Figure 12-2 that there are two paths: one labeled with a checkmark and the other with an X . The checkmark path is also called the default path (more on this in a little bit). The icons for the default path and the other path will change, however, if a sensor is selected as the Control. I ll show an example of this shortly. Now, in Figure 12-3 I ve unchecked the Flat view box, and you can now see that the SWITCH block has tabs along the top edge.

Figure 16-1. A RANDOM block generates a number between 1 and 100. Next, I convert the number to text using a NUMBER TO TEXT block (see Figure 16-2).

you select (in this example, Ports B and C) are listed on the MOVE block in the upper right corner. This can be helpful for troubleshooting and to remind you which motors will be used.