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Figure 4-12. Place a MOVE block inside the inner LOOP block. Once the LOOP block is broken (by the Ultrasonic Sensor), the bot needs to stop the forward motion and turn left. This also is done three times (see the earlier three groups). Now you need to drop in a block to stop the motors, and another block to turn the bot. First, let s drop in a MOVE block to stop the motors (see Figure 4-13). It s easy to configure. Just select the Stop action (as shown) instead of forward movement.

Now, let me explain what is happening so far The COMPARE block is taking a Yes/No response from the Light sensor It is also taking a Yes/No response from the Sound sensor By selecting the And option on the COMPARE block, we are forcing the COMPARE block to take the result in plug A (Yes or No) and the result in plug B (Yes or No) and add them together to create a single Yes/No response I can already hear you asking, How do you add Yes/No responses Well, the answer is fairly simple and relies on the option you selected in that drop-down menu (the And, Or, Xor, and Not options): And option: If you select the And option, both responses must be Yes for a final Yes result to be generated If plug A is Yes and plug B is No, then the final result will be No.

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Look back at Figure 12-17 The checkmark is next to the third condition This means that if a value of 4 or 5 is provided by the RANDOM block, the default path will be chosen So the blocks in the third tab will execute for a value of 4, 5, 100, or any other number except for 1 and 2 The SWITCH block is a very useful block for giving your robots some powerful decision-making skills The SWITCH block can use Logic values (True or False), Numbers, Text, and sensors to determine which paths are chosen by your robot to execute Keep this in mind when you need to give your robots the ability to make different decisions based on different types of input As your programming skills progress, you ll find the SWITCH block one of your favorite tools to use.

Figure 4-13. Another MOVE block stops the motors from turning. The final action for the outer LOOP block is to turn the bot to the left. Drop in another MOVE block and configure it as shown in the configuration panel (see Figure 4-14).

Likewise, if plug A is No and plug B is Yes, the final result will still be No And if plug A is No and Plug B is No, the final result is No Or option: If you select the Or option, only one response must be Yes for a final Yes result to be generated If plug A is Yes and plug B is No, then the final result will be Yes Likewise, if plug A is No and plug B is Yes, the final result will still be Yes If both plug A and plug B are both Yes, then the final result will be Yes Only if plug A is No and Plug B is No, the final result is No Xor option: This is a weird one.

Now, before leaving this chapter and moving on to some of the more advanced NXT-G blocks, I d like for you to try creating an NXT-G program that satisfies the requirements found in Exercise 12-1 I ve provided the answer at the end of the chapter if you get stuck..

Note Only one motor (B) is configured to turn in this MOVE block. When motor B turns and motor C is motionless, the bot will turn left. At the end of this chapter, I ll show you how to determine the proper number of degrees needed to make a good left turn for now, let s set it to 360. We ll also cut the power down to 25 for this block to make the turn slow and steady.

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