tm

Lego Mindstorms
NXT 2.0 for Teens

Jerry Lee Ford, Jr.

Course Technology PTR

A part of Cengage Learning

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Lego MindstormsTM NXT 2.0 for Teens © 2011 Course Technology, a part of Cengage Learning.
Jerry Lee Ford, Jr. ALL RIGHTS RESERVED. No part of this work covered by the copyright
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Printed by RR Donnelley. Crawfordsville, IN. 1st Ptg. 12/2010

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1 2 3 4 5 6 7 12 11 10
To my wonderful children, Alexander, William, and Molly,
and my beautiful wife, Mary.
Acknowledgments

This book represents the hard work of a number of talented individuals to whom I
owe a great many thanks. For starters I want to thank Emi Smith, who as
acquisitions editor, helped make this book a reality. I especially need to express
my gratitude to Jenny Davidson, who served as this book’s project editor. As she
has demonstrated so many times in the past, Jenny’s guidance and editorial skills
were essential to the success of this book. Thanks also go out to this book’s
technical editor, JT Hiquet, for providing invaluable insights and technical advice
and to Sandy Doell, who served as the book’s copyeditor. Lastly, I’d be remiss if I
did not remember to thank all the people working behind the scenes at Course
Technology PTR for all their contributions and hard work.
About the Author

Jerry Lee Ford, Jr. is an author, educator, and an IT professional with over
21 years of experience in information technology, including roles as an auto-
mation analyst, technical manager, technical support analyst, automation engi-
neer, and security analyst. He is the author of 36 books and co-author of two
additional books. His published works include Getting Started with Game Maker,
DarkBASIC Programming for the Absolute Beginner, Scratch Programming for
Teens, Microsoft Visual Basic 2008 Express Programming for the Absolute
Beginner, and Phrogram Programming for the Absolute Beginner. Jerry has a
master’s degree in business administration from Virginia Commonwealth Uni-
versity in Richmond, Virginia, and he has over five years of experience as an
adjunct instructor teaching networking courses in information technology.
Contents

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

Chapter 1 Lego Mindstorms NXT 2.0 Overview . . . . . . . . . . . . . . . . . 1

Lego Mindstorms Origins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 2
Getting to Know Lego Mindstorms NXT 2.0 . . . . . . . . . . . . . . . . . .. 3
The Lego Mindstorms NXT 2.0 Kit's Brick, Motors, Sensors,
and Lego Bricks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
The Lego Mindstorms NXT Software . . . . . . . . . . . . . . . . . . . . . . 4
The NXT-G Programming Language . . . . . . . . . . . . . . . . . . . . . . . 6
Installing the Mindstorms NXT 2.0 Software . . . . . . . . . . . . . . . . . . . 7
Installing Mindstorms NXT 2.0 Software on Microsoft Windows . . 7
Installing Mindstorms NXT 2.0 on Mac OS X . . . . . . . . . . . . . . . . 9
The Three Steps in Building Robots . . . . . . . . . . . . . . . . . . . . . . . . 10
Building Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Developing NXT-G Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Activating Your Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Joining the Lego Mindstorms Community . . . . . . . . . . . . . . . . . . . . 14
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Chapter 2 Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Navigating the Mindstorms NXT 2.0 GUI . . . . . . . . . . . . . . . . . . . . 18
Examining the NXT 2.0 GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Accessing NXT 2.0 Functionality via Keyboard Shortcuts . . . . . . . 18
The Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

vi
 Contents vii

Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Programming Palette . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Configuration Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
NXT Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
My Portal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Robo Center . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Little Help Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
The Work Area Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Work Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Other NXT 2.0 GUI Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Calibrate Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Update NXT Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Create Pack and Go . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Block Import and Export Wizard . . . . . . . . . . . . . . . . . . . . . . . . 34
Image Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Remote Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Sound Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Managing NXT Brick Communication and Memory . . . . . . . . . . . . . 41
Managing Connections to NXT Bricks . . . . . . . . . . . . . . . . . . . . 41
Managing NXT Brick Memory . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Creating Your First NXT Program . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Connecting Your NXT to Your Computer . . . . . . . . . . . . . . . . . . . . 45
Downloading Your NXT-G Program . . . . . . . . . . . . . . . . . . . . . . . . 47
Running Your Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Chapter 3 Working with Electronic Components . . . . . . . . . . . . . . . 51

The NXT Brick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Primary Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
The NXT Brick's File System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
My Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
NXT Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
NXT Datalog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Bluetooth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Try Me . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
viii Contents

The Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Color Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Touch Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Ultrasonic Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Using NXT Brick Buttons as Sensors . . . . . . . . . . . . . . . . . . . . . . 68
Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Chapter 4 Adding Blocks and Gears . . . . . . . . . . . . . . . . . . . . . . . . . 71

Identifying Different Pieces and Parts . . . . . . . . . . . . . . . . . . . . . . . 71
Building a Foundation with Beams . . . . . . . . . . . . . . . . . . . . . . . . . 72
Straight Beams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Angular Beams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
The T-Beam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Axles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Bushings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Pegs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Angle Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Steering Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Cross Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Peg Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Other Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Creating Gear Trains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Managing Gear Train Performance . . . . . . . . . . . . . . . . . . . . . . 91
Tracks, Rims, and Tires for Mobile Robots . . . . . . . . . . . . . . . . . . . . 92
Other Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Chapter 5 Getting to Know the NXT-G Development Environment . . . 95

Computer Program Development and Execution . . . . . . . . . . . . . . . 96
Drafting Program Logic Using Pseudocode . . . . . . . . . . . . . . . . . 98
Laying Out Program Logic Using Flowcharts . . . . . . . . . . . . . . . 98
Turning Outlines into a Functioning NXT-G Program . . . . . . . . 100
Beginning a Program Development Session . . . . . . . . . . . . . . . . . 101
Understanding Developer Profiles . . . . . . . . . . . . . . . . . . . . . . 103
Giving Yourself More Room to Work . . . . . . . . . . . . . . . . . . . . 105
 Contents ix

Accessing Programming Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Common Palette Programming Blocks . . . . . . . . . . . . . . . . . . . 109
Complete Palette Programming Blocks . . . . . . . . . . . . . . . . . . 110
Custom Palette Programming Blocks . . . . . . . . . . . . . . . . . . . . 115
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Chapter 6 Basic NXT-G Programming Concepts . . . . . . . . . . . . . . . 121

Dissecting Programming Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Beginning at the Starting Point . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Understanding the Sequence Beam . . . . . . . . . . . . . . . . . . . . . . . 125
Multitasking Using Parallel Sequence Beams . . . . . . . . . . . . . . . . . 128
Moving Programming Blocks Around Your NXT-G Programs . . . . . 131
Getting Control of the Work Area . . . . . . . . . . . . . . . . . . . . . . . . 134
Improving NXT-G Programs Using Comments . . . . . . . . . . . . . . . . 135
Adding Comments to Your NXT-G Programs . . . . . . . . . . . . . . 135
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

Chapter 7 Working with the Common Programming Blocks . . . . . . 139

A Detailed Review of the Common Blocks . . . . . . . . . . . . . . . . . . 139
The Move Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
The Record/Play Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
The Sound Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
The Display Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
The Wait Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Configuring the Wait Block to Pause Execution . . . . . . . . . . . . 151
Configuring the Wait Block to Conditionally Pause an
Execution Based on Sensor Data . . . . . . . . . . . . . . . . . . . . . . . 152
The Loop Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
A Quick Loop Demonstration . . . . . . . . . . . . . . . . . . . . . . . . . 156
The Switch Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Chapter 8 Advanced Programming Techniques . . . . . . . . . . . . . . . 161

Passing Data Between Blocks Using Data Wires . . . . . . . . . . . . . . 161
Interacting with Data Hubs . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Connecting Programming Blocks with Data Wires . . . . . . . . . . 163
x Contents

Determining Data Plug Type and Compatibility . . . . . . . . . . . . 165

Identifying Broken Data Wires . . . . . . . . . . . . . . . . . . . . . . . . 166
Extending a Data Wire's Path . . . . . . . . . . . . . . . . . . . . . . . . . 169
Programming Blocks That Use Data Wires . . . . . . . . . . . . . . . . . . 170
Actions Programming Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Sensor Programming Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Flow Programming Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Data Programming Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Advanced Programming Blocks . . . . . . . . . . . . . . . . . . . . . . . . 186
Creating Custom Functions by Creating My Blocks . . . . . . . . . . . . 192
Creating and Managing My Blocks . . . . . . . . . . . . . . . . . . . . . 193
Downloading and Installing Web Blocks . . . . . . . . . . . . . . . . . 197
Debugging Your NXT-G Programs . . . . . . . . . . . . . . . . . . . . . . . . 198
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Chapter 9 Go Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

Robotic Development Methodology . . . . . . . . . . . . . . . . . . . . . . . 202
Introducing Go Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Building Go Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Preparing the NXT Brick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Assembling the Left Motor Drive . . . . . . . . . . . . . . . . . . . . . . . 205
Assembling the Right Motor Drive . . . . . . . . . . . . . . . . . . . . . . 208
Assembling the Rear Wheel Chassis . . . . . . . . . . . . . . . . . . . . . 210
Assembling Go Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Programming Go Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Remote Controlling Go Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

Chapter 10 Tracker Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

Introducing Tracker Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Building Tracker Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Preparing the Color Sensor for Connection . . . . . . . . . . . . . . . 226
Assembling Support Beams . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Completing the Sensor Assembly . . . . . . . . . . . . . . . . . . . . . . . 229
Connecting the Sensor Assembly to the Robot . . . . . . . . . . . . . 231
Programming Tracker Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
 Contents xi

Chapter 11 Detector Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

Introducing Detector Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Building Detector Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Preparing the Touch Sensor for Connection . . . . . . . . . . . . . . . 244
Connecting Screens to the Assembly . . . . . . . . . . . . . . . . . . . . 245
Adding Support Beams to the Assembly . . . . . . . . . . . . . . . . . 247
Extending Touch Sensor Reach . . . . . . . . . . . . . . . . . . . . . . . . 248
Connecting the Touch Sensor Assembly . . . . . . . . . . . . . . . . . . 250
Programming Detector Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

Chapter 12 Alarm Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

Introducing Alarm Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Building Alarm Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Assembling a Framework Base . . . . . . . . . . . . . . . . . . . . . . . . 261
Adding a Platform to the NXT Brick to Support
the Servo Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Adding Support Struts to Support the Servo Motor . . . . . . . . . 266
Connecting the Servo Motor . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Preparing the Ultrasonic Sensor . . . . . . . . . . . . . . . . . . . . . . . . 270
Preparing the Color Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Completing Alarm Bot's Assembly . . . . . . . . . . . . . . . . . . . . . . 274
Programming Alarm Bot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

Appendix A What’s on the Companion Web Site? . . . . . . . . . . . . . . 283

Appendix B What’s Next? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Introduction

Welcome to Lego Mindstorms NXT 2.0 for Teens! Lego Mindstorms NXT 2.0 is a
programmable robotics kit made by Lego. Lego Mindstorms NXT 2.0 is the latest
version of this kit, released in August 2009. The kit is made up of a micro-
computer, electronic motors and sensors, as well as various Lego bricks and Lego
Technic pieces like beams, axles, and gears, 619 pieces in total.
The Lego Mindstorms NXT 2.0 kit comes equipped with everything you need to
build all sorts of robotic creations. It includes a software programming language
called NXT-G, which is used to write the programs that are downloaded into your
robotic creations in order to bring them to life. NXT-G is an icon-based, drag-
and-drop language, which means that there is no complex programming language
that must be mastered.
Until the advent of Lego Mindstorms, robotic development was the realm in
which only an exclusive group of highly educated and technically proficient
engineers and programmers were able to play. Lego Mindstorms NXT 2.0
changes all that. Lego Mindstorms NXT 2.0 provides you with a complete fra-
mework for robotic development. It does not require you to have an advanced
degree in computer science in order to use it. This book will provide you with
everything you need to know in order to get up and running with Lego Mind-
storms NXT 2.0 and NXT-G.
By following along with this book’s step-by-step, hands-on instruction, you will
learn how to create all sorts of robotic creations and to develop the program code

xii
 Introduction xiii

that will make them work. Although Lego Mindstorms NXT 2.0 comes in both
retail and an education kit, this book will focus on robotic development using the
retail kit (set number 8527). This kit is available for purchase at www.lego.com or
at your local TOYS ’R US store. It costs around $280. The educational kit (set
number 9797) is almost identical to the retail kit, except that it includes a few
additional components.

Why Lego Mindstorms NXT 2.0?

Lego Mindstorms is named after a book titled Mindstorms: Children, Computer,
and Power Ideas published in 1993. Lego Mindstorms NXT 2.0 was released on
August 1, 2009. Together, Lego Mindstorms NXT 2.0 and NXT-G provide you
with everything you need to create just about anything you can imagine. Robot
creation is a three-step process. First you use Lego bricks to create your robot.
Then you use NXT-G to write the program code that makes your creations work.
Then you download the program code into the NXT Brick, a small micro-
computer that is the brain of your creations, and then step back and watch them
come alive.
Lego Mindstorms NXT 2.0/NXT-G software runs on Microsoft Windows or Mac
OS X. It is easy to install and learn. You can download your program code into
your creations using a USB cable. If your computer has Bluetooth installed, you
can use it to wirelessly download your program code. Examples of the types of
creations you can build include things like:

n Robots that move, see, and react to their environment

n Different types of vehicles (cars, tanks, etc.)
n Robotic arms like those used in manufacturing plants
n A robotic warning system that alerts you when someone enters your room
n Robotic animals that move and act like their real-life counterparts

Of course, Lego Mindstorms NXT 2.0 doesn’t limit you to the types of robotic
creations listed above. You can use it to create pretty much anything you can
imagine.
xiv Introduction

Who Should Read this Book?

Lego Mindstorms NXT 2.0 for Teens has been designed to meet the needs of
anyone interested in learning about robotic development using Lego Mindstorms
NXT 2.0. As this book will show you, building your own robotic creations is a lot
of fun. It’s a lot more fun than any robot toy you can buy. This book will not only
teach you the basic principles behind good robotic design but will also give you a
solid understanding of the programming principles involved in the creation of
NXT-G programs. By the time you are done with this book, you will have learned
how to create all sorts of cool projects.
Lego Mindstorms NXT 2.0 is easy enough for kids as young as 10 years old to
learn while at the same time is powerful to meet the needs of adults and advanced
robotic hobbyists. It provides everything you will need to complete even the most
advanced robotic project, including a powerful microcomputer, servo motors,
and a variety of sensors that can detect color, light, movement, distance, and
touch. Software features include editors that let you download and play sound
files on the NXT Brick as well as an image editor that you can use to create
graphics and display them on the NXT Brick’s LCD. There is even a remote
control application that you can use to control your robots.
While previous robotic development and programming experience is helpful, it is
not a requirement of this book. You only need have a good understanding of
either Microsoft Windows or Mac OS X to get started. If you know how to operate
a computer and are comfortable working with applications like Microsoft Office,
you’ll be surprised how quickly you will pick things up.
Advanced robotic developers, on the other hand, will be happy to learn that Lego
Mindstorms NXT 2.0’s development framework provides everything required to
develop advanced projects. As such, it is a great tool for quickly building and
testing prototypes. It can be used to create stand-alone robots or robots that are
designed to interact with other robots. You can even use certain Bluetooth-
enabled telephones to interact with and control your robots. All you need to get
up and running quickly is Lego Mindstorms NXT 2.0 and this book. In no time at
all, you will be building and playing with all kinds of robots and mechanized
systems and models.
 Introduction xv

What You Need to Begin

As I mentioned, Lego Mindstorms NXT 2.0 comes in two versions, a retail version
that sells for around $280 and an education set. The education set contains
everything that the retail version has plus a few additional components. This book
is based on the retail version, although the education set can be used if that’s what
you have.
The Lego Mindstorms NXT 2.0 kit comes with everything you need to get started
except for a computer, which you will need to develop programs for your projects.
Although there are dozens of third-party programming languages with varying
levels of complexity that can be used, NXT-G is arguably the simplest and easiest
to learn and is the programming language used throughout this book.
The Lego Mindstorms NXT 2.0 software will run on any of the following versions
of Microsoft Windows.

n Windows XP with Service Pack 2 (Home Edition, Professional)

n Windows Vista with Service Pack 1
n Windows 7
In addition, the Lego Mindstorms NXT 2.0 software will also run on all of the
following versions of Mac OS X.

n Mac OS X 10.3
n Mac OS X 10.4
n Mac OS X 10.5
Although various versions of Microsoft Windows and Mac OS X are supported,
this book will demonstrate the execution of NXT-G software on a system running
Windows Vista. Regardless of which operating systems you use, the steps you
follow and the program code that is generated is the same.
In order to install and operate Lego Mindstorms NXT 2.0 on a Microsoft Windows
system, your computer must meet the minimum hardware requirements listed in
the following table. However, for good performance, you will want to make sure
that your computer exceeds these requirements.
xvi Introduction

Minimum Requirements for Lego Mindstorms NXT 2.0 on Windows

Resource Minimum Requirement
Processor 1 GHz Intel (1.5 GHz recommended)
Memory 512 MB
Hard Disk 700 MB
CD-ROM Any speed
Display XGA (1024  768)
USB Port 1
Bluetooth Adapter Optional

If, on the other hand, your computer runs on Mac OS X, it must meet the
following requirements.

Minimum Requirements for Lego Mindstorms NXT 2.0 on Mac OS X

Resource Minimum Requirement
Processor PowerPC G3, G4, G5, 600 MHz Intel (1.3 GHz recommended)
Memory 512 MB
Hard Disk 700 MB
CD-ROM Any speed
Display XGA (1024  768)
USB Port 1
Bluetooth Adapter Optional

Assuming your Microsoft Windows or Mac OS X computer meets the hardware

and software requirements previously outlined, all you need to get started
developing your own robotic creations is the Lego Mindstorms NXT 2.0 kit and
this book. It won’t take long before you will be creating all kinds of exciting robots,
mechanized systems, and models.

Conventions Used in This Book

This book uses a number of conventions in order to make it easier for you to read
and work with the information that is provided. These conventions are as follows.
Hint
Tips for doing things differently and things that you can do to become a more proficient robotic
developer.
 Introduction xvii

Trap
Areas where problems are likely to occur and advice on how to stay away from or deal with those
problems, hopefully saving you the pain of learning about them on your own the hard way.

Trick
Shortcuts designed to help make you a better and more efficient robotic developer.

CD-ROM Downloads
If you purchased an ebook version of this book, and the book had a companion
CD-ROM, you may download the contents from www.courseptr.com/downloads.
This page intentionally left blank
 Chapter 1

Lego Mindstorms NXT 2.0

Overview

No so long ago robotic development was limited to the realm of engineers,

advanced programmers, and highly skilled machinists. While robotic develop-
ment was frequently used in manufacturing and other high-end technical fields,
those who built robots as a hobby had to be very creative and resourceful. Not
only did they have to figure out how to design their own robots, but they also
had to build and create their parts. Lego Mindstorms NXT 2.0 greatly simplifies
things by providing you with prebuilt Lego components that provide a frame-
work specifically designed for building robots. So there is no more soldering, no
more wiring, and no more jury rigging.
This chapter provides you with a high-level overview of Lego Mindstorms NXT
2.0. The major topics covered in this chapter include:
n A review of Lego Mindstorms origins
n A high level overview of the components that make up the Lego
Mindstorms NXT 2.0 kit
n Learning about the three steps involved in building robots
n Learning how to install the Lego Mindstorms NXT 2.0 software
n Learning about the Lego Mindstorms NXT community

1
2 Chapter 1 n Lego Mindstorms NXT 2.0 Overview

Lego Mindstorms Origins

In 1998 Lego introduced the world to the Robotics Invention System, or RIS.
This kit consisted of a pair of motors, two touch sensors, and a light sensor. The
kit also included a microcomputer called the RCX, which provided a brain for
robotic creations, executing programs downloaded from a Windows or Mac OS
X computer via an infrared interface. The RCX featured a small LCD, which
could be used to view and interact with the device. Initially the RCX was
powered by a power adapter. Later versions liberated robotic creations by
replacing the power adapter with batteries.
The first version of Lego Mindstorms NXT was released in 2006. Lego named
this new robotic kit Mindstorms NXT based on a book titled Mindstorms:
Children, Computers, and Powerful Ideas. The first version contained 619
Technic pieces, an ultrasonic sensor, sound sensor, touch sensor, and a light
sensor as well as three servo motors, and it included the NXT-G programming
language.

Hint
If you want to learn more about the Robotics Invention System and the previous version of Lego
Mindstorms NXT, visit http://en.wikipedia.org/wiki/Robotics_Invention_System and http://en.
wikipedia.org/wiki/Lego_Mindstorms_NXT.

Lego Mindstorms NXT 2.0 was released by Lego in August 2009. Though similar
to the previous version, a number of major improvements were made, and some
pieces were changed. The version 2.0 set no longer comes with a sound sensor or
a light sensor. Instead, it has two touch sensors and a new color sensor. The
color sensor supports three functions. Not only can it detect different colors, but
it can also serve as both a lamp and a light sensor. In addition, the Mindstorms
NXT 2.0 software has been enhanced. It now has new sound and image editors
and a remote control application.
The sound editor allows you to convert sound files on your computer into a
format supported by the NXT Brick and then to download them. Downloaded
sound files can be played through the NXT Brick’s built-in speaker. This way
you can make your robots play all kinds of sound effects or even talk. The image
editor lets you convert and download graphic files onto your NXT, where they
can then be loaded and displayed on the brick’s LCD screen. The remote control
 Getting to Know Lego Mindstorms NXT 2.0 3

application allows you to control your robotic creations from your computer.
On top of all this, there is a new packaging tool that helps make sharing NXT-G
programs a lot easier.

Hint
If you are feeling nostalgic, you can purchase the Robotics Invention System online via eBay for
roughly the same price that the Mindstorms NXT 2.0 kit sells for today.

Getting to Know Lego Mindstorms NXT 2.0

The Lego Mindstorms NXT 2.0 kit consists of numerous components. These
components provide a sophisticated framework that is specifically designed to
support the development of robots and other sorts of mechanized creations. This
framework consists of several different components, including:
n The Lego Mindstorms NXT 2.0 kit’s brick, motors, sensors, and Lego
bricks
n The Lego Mindstorms NXT software
n The NXT-G programming language
Together, these components provide you with everything needed to build just
about anything you can imagine.

The Lego Mindstorms NXT 2.0 Kit’s Brick, Motors, Sensors,

and Lego Bricks
While the Lego Mindstorms NXT 2.0 kit consists of 619 pieces, the heart of your
robotic creations consists of a handful of key electronic components. Figure 1.1
identifies and depicts each of these components.
The servo motors and the sensors are connected to the NXT Brick by way of
small six-wire cables. These cables carry bi-directional communication between
the NXT Brick and the electronic components. The NXT microcomputer,
usually referred to as the NXT Brick or NXT, is the brain of your robotic
creations. Compared to modern computers of today, the NXT Brick is not a very
powerful computer. However, it is perfectly well designed and suited for its task,
which is to run small, efficient programs and to communicate with and power
its servo motors and sensors.
4 Chapter 1 n Lego Mindstorms NXT 2.0 Overview

Servo Motors

NXT Brick

Touch Color Ultrasonic Touch

Sensor Sensor Sensor Sensor
Figure 1.1
The NXT Brick, servo motors, and sensors make up the heart of your robotic creations.

The Lego Mindstorms NXT 2.0 kit also consists of a large collection of Lego
pieces, including gears, beams, pegs, axles, and so on, as depicted in Figure 1.2.

The Lego Mindstorms NXT Software

Just as important as the various pieces and parts supplied with the Mindstorms
NXT 2.0 set is the software that ties everything together. This includes both the
Integrated Development Environment (IDE), shown in Figure 1.3, which you
will learn to work with when developing programs for your robotic creations as
well as the NXT-G programming language with which those programs are
written.
 Getting to Know Lego Mindstorms NXT 2.0 5

Figure 1.2
An example of the many different types of pieces included in the Lego Mindstorms NXT 2.0 kit.

Figure 1.3
The Mindstorms NXT 2.0 IDE consists of an assortment of different specialized windows.
6 Chapter 1 n Lego Mindstorms NXT 2.0 Overview

Hint
You will learn more about the Mindstorms NXT 2.0 IDE in Chapter 2, “Getting Started.”

Using the IDE, you can create and edit NXT-G programs and download them to
your NXT Brick. In addition, the IDE contains features like the Robo Center
window, which provides easy access to building instructions for creating differ-
ent types of robots and the My Portal window that provides access to all kinds of
online resources and helps Mindstorms NXT developers to stay in touch with
the latest happenings in the Mindstorms NXT community.
The software also includes an editor that allows you to record sounds on your
computer that can then be used by programs in the NXT Brick and an editor
that can be used to create, edit, and download graphics to the NXT Brick.

The NXT-G Programming Language

NXT-G is the official programming language provided by Lego for use with
Mindstorms NXT. It is automatically installed on your computer when you
install the Lego Mindstorms NXT software, so it is readily available to you. As
demonstrated in Figure 1.4, the NXT-G programming language consists of a

Figure 1.4
NXT-G programs consist of various combinations of program blocks.
 Installing the Mindstorms NXT 2.0 Software 7

series of programming blocks. NXT programs are created by dragging, drop-

ping, and snapping together these code blocks. Because of this, it is easier to
learn than the many other NXT-compatible programming languages.
Compared to other compatible Mindstorms NXT programming languages,
NXT-G programs tend to be larger and take up more storage space. They
also take longer to download. However, the trade-off is usually well worth it,
especially if you are a first time robotic developer who does not want to get
bogged down in learning the fundamentals of computer programming before
you can begin developing robotic creations.
NXT-G programs are developed on your Windows or Mac OS X computer, but
they are designed to be executed by the NXT Brick, providing the instructions
that make your robotic creations move, talk, sense, and react to their environ-
ment.

Installing the Mindstorms NXT 2.0 Software

The Mindstorms NXT 2.0 software works on both Microsoft Windows and Mac
OS X. Before you try installing Mindstorms NXT 2.0, make sure your computer
meets the minimum system requirements, which were outlined in the book’s
Introduction.

Installing Mindstorms NXT 2.0 Software on Microsoft

Windows
Before installing Mindstorms NXT 2.0 on Microsoft Windows, make sure that
you close any currently open programs. You can then complete the installation
by executing the following procedure.

Step-by-Step

1. Insert the Lego Mindstorms NXT 2.0 CD-ROM into your computer’s CD-ROM drive.

2. The window shown in Figure 1.5 should appear within a few moments. If it does not,
locate the autorun.exe file on the CD-ROM and double click on it. Select your preferred
language.

3. Click on Allow if prompted for permission to run the setup.exe program.

8 Chapter 1 n Lego Mindstorms NXT 2.0 Overview

Figure 1.5
Beginning the installation procedure for Lego Mindstorms NXT 2.0 on Microsoft Windows.

4. The next window that appears specifies the features being installed and the directory into
which the application files are to be copied. Click on Next to accept the default settings.

5. The Lego Mindstorms NXT Software license agreement is displayed next. Review the
terms of the agreement and then click on the I accept the License Agreements(s) option
and click on Next.

6. Installation summary information is then displayed, identifying the changes about to be

made. Click on Next to continue the installation process.

7. Over the next several minutes, the Lego Mindstorms NXT 2.0 application files are copied
onto your computer. Once complete, you’ll see a window prompting you to view the
application’s Readme file and to register the software with Lego.

Hint
You can view the Readme file at any time by clicking on Start > All Programs > Lego Mindstorms
NXT 2.0 > Read Me. You can register your copy of the software any time by clicking on Help >
Register Product.

8. Click on Finish to complete the installation procedure.

 Installing the Mindstorms NXT 2.0 Software 9

Once installed, you can start Mindstorms NXT 2.0 by clicking on Start > All
Programs > Lego Mindstorms NXT 2.0 > Lego Mindstorms NXT 2.0.

Installing Mindstorms NXT 2.0 on Mac OS X

Before installing Mindstorms NXT 2.0 on a Mac OS X computer, make sure that
you close any currently open programs. You can then complete the installation
by executing the following procedure.

Step-by-Step

1. Insert the Lego Mindstorms NXT 2.0 CD-ROM into your computer’s CD-ROM drive.

2. Locate and open the Mindstorms NXT folder and double click on the Install file.

3. The Lego Mindstorms NXT v2.0 window appears. Select your preferred language.

4. A window appears welcoming you to the install program. Click on Continue.

5. The Lego Mindstorms Read Me file is displayed. Review its content and then click on
Continue.

6. The Lego Mindstorms NXT Software license agreement is displayed. Review its content
and then click on Continue.

7. When prompted, click on Agree to accept the terms of the license agreement.

8. You are then prompted to specify the location where you wish to install the application.
After specifying an appropriate location, click on Continue.

9. Click on Install to begin the install process.

10. If prompted, supply a password and click on OK in order to continue the installation.

11. Over the next several minutes, the Lego Mindstorms NXT 2.0 application files are copied
onto your computer. Once this has completed, you’ll see a window prompting you to
restart your computer. Click on Restart.

Once installed, you can start Mindstorms NXT 2.0, as shown in Figure 1.6, by
opening the Applications folder followed by the Lego Mindstorms NXT
subfolder and then double clicking on the Mindstorms NXT icon.
10 Chapter 1 n Lego Mindstorms NXT 2.0 Overview

Figure 1.6
Mindstorms NXT 2.0 on Mac OS X looks, feels, and operates very much the same as it does on Microsoft
Windows.

The Three Steps in Building Robots

No matter how simple or complex your project may be, there are three high-
level steps involved in the creation of every NXT robot. These steps are outlined
in the following list:
1. Building the robot
2. Programming the robot
3. Activating the robot
Of course, every robotic project is different and there will be variations in the
manner that each of these steps is performed.
 The Three Steps in Building Robots 11

Building Robots
The first step in building a new robot is to sit down and build it. One way of
going about this is to build the robot based on a set of existing building
instructions. The Mindstorms NXT 2.0 set comes with a Quick Start Guide that
walks you through the creation of a robotic vehicle. The Mindstorms NXT
software’s Robo Center includes instructions for creating four additional
robots. Instructions for building additional robots can be found online at
http://mindstorms.lego.com. You will also find detailed instructions for building
several robots in this book. Last but not least, you can use your own imagination
to build anything you can think of.

Developing NXT-G Programs

In order to breathe life into your robots, you need to develop and then download
a software program that tells the NXT Brick what you want it to do. If you create
a robot based on online instructions downloaded from the Internet, you may be
able to download a software program for it. In addition, you will find
instructions for developing the program files for all of the robotic projects
presented in this book. Of course, you will have to learn how to develop your
own program files for any robots that you create on your own.

Writing NXT-G Programs

The Mindstorms NXT 2.0 software and NXT-G programming language
provide everything you need to create software programs that bring robots to
life. NXT-G is a unique programming language. There are no complicated
syntax requirements that you must follow. There is no laundry list of keywords
or language elements to learn. Instead, you create NXT-G programs by dragging
and dropping and then configuring different types of programming blocks.
Figure 1.7 shows an example of a simple NXT-G program file.
Program icons are located on the left side of the Mindstorms NXT 2.0 GUI.
Each program icon performs a specific function. They can be used to control
servo motor movement, display messages, collect and process sensor input, play
sounds, and more. Using a combination of program blocks, you can make your
robots do whatever you wish.
12 Chapter 1 n Lego Mindstorms NXT 2.0 Overview

Figure 1.7
NXT-G programs consist of various combinations of program blocks that are configured to perform
specific tasks.

Sidebar
NXT-G may be the programming language that Lego supplies with the Lego Mindstorms NXT 2.0
kit, but it is only one of many programming languages that support NXT program development.
The following is a partial listing of NXT-compatible programming languages.

n RobotC—http://www.robotc.net

n Ruby-nxt—http://rubyforge.org/projects/ruby-nxt/

n pbLua—http://www.hempeldesigngroup.com/lego/pbLua/

n Lego:NXT—http://search.cpan.org/~collins/LEGO-NXT-2.00-1/

n Lego.NET—http://www.dcl.hpi.uni-potsdam.de/research/lego.NET/

n NXTþþ—http://nxtpp.clustur.com/

n RoboRealm—http://www.roborealm.com/
 The Three Steps in Building Robots 13

n SqLego—http://wiki.squeak.org/squeak/2412

n NXT_Python—http://code.google.com/p/nxt-python/

For a more complete list of available programming languages, visit http://en.wikipedia.org/wiki/

Lego_Mindstorms.

Downloading Program Code

Once you have your NXT-G program working like you want it to, you must
download it into the NXT Brick in order to make your robot come alive. You
can do so using a USB connection between your computer and NXT Brick. The
Lego Mindstorms NXT 2.0 kit includes a USB cable. Alternatively, if your
computer has Bluetooth capability, you can use it to wirelessly download your
NXT-G programs.

Hint
The NXT Bricks can use Bluetooth to upload programs and files from your computer. NXT Bricks
have an approximate range of 33 feet (10m). In addition, you can use it to establish wireless
communication with other Bluetooth-enabled devices, including Bluetooth-enabled cell phones or
other NXT robots.

This book will explain how to use the Lego Mindstorms 2.0 kit’s USB cable to
establish communication between the NXT Brick and the computer. If your
computer has Bluetooth capability and you want to use that instead, refer to the
Lego Mindstorms User Guide supplied as part of the Lego Mindstorms NXT 2.0
kit for detailed instructions on how to work with it.

Activating Your Robots

The last step in the development of a robot, once you have created it and its
program file and then downloaded that file into the NXT Brick, is to activate
your robot. This is where the rubber meets the road and the fun really begins as
you watch what you’ve built spring into action. Activating a NXT robot is
usually as easy as pressing a NXT Brick button and putting your robotic creation
down on the floor or table top.
14 Chapter 1 n Lego Mindstorms NXT 2.0 Overview

Joining the Lego Mindstorms Community

Although there are many web sites dedicated to Lego Mindstorms NXT, the
Lego Mindstorms web site located at http://mindstorms.lego.com, shown in
Figure 1.8, represents the heart and soul of the Lego Mindstorms Community,
which consists of an estimated 400,000 plus Mindstorms robotic enthusiasts
around the world. The web site is designed to facilitate community collabo-
ration, facilitating project sharing, development contests, and various other
events.

Figure 1.8
The Lego Mindstorms web site is the focal point of all activity within the user community.
 Joining the Lego Mindstorms Community 15

Figure 1.9
The FIRST LEGO League provides a great platform for young people to get involved in the Lego
Mindstorms Community.

The Lego Mindstorms community is a very active group. In addition to the Lego
Mindstorms web site, there are many other web sites and organizations
dedicated to Lego development. One such group is the FIRST LEGO League
or FLL. The FLL, shown in Figure 1.9, is a worldwide robotic design competition
started in 1999 for the purpose of getting children interested in science and
16 Chapter 1 n Lego Mindstorms NXT 2.0 Overview

technology. The FLL has grown in popularity to include over 140,000 people in
56 countries around the world. To learn more about it visit http://www.
firstlegoleague.org.

Hint
See Appendix B for a listing of other web sites dedicated to Lego Mindstorms development.

Summary
As this chapter explained, thanks to the Lego Mindstorms NXT 2.0 kit, robotic
development is no longer the exclusive domain of large companies and advanced
machinists, engineers, and programmers. This chapter provided you with an
overview of Lego Mindstorms NXT 2.0, covering its history, major components,
and the three steps involved in building robots. You learned how to install Lego
Mindstorms NXT 2.0 on both Windows and Mac OS X computers. You also
learned about the Lego Community and the FIRST LEGO League.
 Chapter 2

Getting Started

In Chapter 1, “Lego Mindstorms NXT 2.0 Overview,” you were introduced to

Lego Mindstorms NXT 2.0. This included a review of its history and major
components. You also learned how to install the Mindstorms NXT 2.0 software
on both Microsoft Windows and Mac OS X. Now it is time to learn about the
Mindstorms NXT 2.0 graphical user interface, which you must fully understand
so you can master Lego robotic development and create the software programs
that will bring your robotic creations to life. By the time you finish this chapter,
you will have a solid understanding of the Mindstorms NXT 2.0 GUI and will
learn how to create and execute your first NXT-G program.
The major topics covered in this chapter include:
n A review of all of the major windows and components that make up the
NXT 2.0 GUI
n Learning how to create your first NXT program
n Learning how to connect your NXT Brick to your computer
n Learning how to download your NXT-G program to your NXT Brick
n Learning how to execute your NXT-G programs

17
18 Chapter 2 n Getting Started

Navigating the Mindstorms NXT 2.0 GUI

The Mindstorms NXT 2.0 graphical user interface, or GUI, is a powerful and
complex tool that provides you with everything you need to develop software
programs using the NXT-G programming language and then download them
into your NXT Brick. A good understanding of the menus, toolbar, and
windows that make up this interface is essential to any Mindstorms developer.

Examining the NXT 2.0 GUI

The primary Mindstorms NXT 2.0 window consists of a menu bar, toolbar, and
various other features as shown in Figure 2.1. This window is reached by starting
Lego Mindstorms NXT 2.0 and then clicking on File > New. Additional features
and functionality are made available through various other windows, which are
accessible from the menu bar and NXT Controller.
Each of the GUI components shown in Figure 2.1 is examined more fully
throughout the rest of this chapter.

Accessing NXT 2.0 Functionality via Keyboard Shortcuts

In addition to accessing and executing commands by way of the Mindstorms
NXT 2.0 GUI’s menu, toolbar, and windows, you can access commonly used
commands and resources using NXT 2.0 keyboard shortcuts. A complete listing
of these shortcuts, many of which are also visible on Mindstorms NXT 2.0
menus, is provided in Table 2.1.

The Menu Bar

The Mindstorms NXT 2.0 menu bar provides access to commands and windows
that perform an assortment of tasks. It is organized into four primary menus:
File, Edit, Tools, and Help as shown in Figure 2.2.
The File menu contains commands that allow you to create, open, close, and
save programs. Commands are also available to print out a visual diagram of
your programs and to exit the application.
The Edit menu contains commands that allow you to undo and redo program
changes and to copy, cut, paste, and clear program icons. Commands are also
available that let you create and edit custom blocks. Other available commands
 Navigating the Mindstorms NXT 2.0 GUI 19

Menu bar Toolbar Robo Center My Portal

Little Help Window

Programming Configuration Panel NXT Controller Work Area Map

Palette
Figure 2.1
The Mindstorms NXT 2.0 Graphical User Interface consists of menu bar, toolbar, and a variety of windows.

let you define constants and create variables, which you will learn all about in
Chapter 8, “Advanced Programming Techniques.”
The Tools menu provides access to a collection of specialized windows, each of
which is designed to perform a specific task. These windows include:
n Calibrate Sensors—Facilitates the re-calibration of sensors to tune their
operations.
n Update NXT Firmware—Provides the ability to update the NXT Bricks
firmware to the most current version, allowing you to take advantage of
any improvements made by Lego.
20 Chapter 2 n Getting Started

Table 2.1 NXT 2.0 Keyboard Shortcuts

Shortcut Windows Mac OS X

Stop NXT CTRLþB Command-B

Copy CTRLþC Command-C
Download to NXT CTRLþD Command-D
NXT Window CTRLþI Command-I
New Program CTRLþN Command-N
Open CTRLþO Command-O
Print CTRLþP Command-P
Quit CTRLþQ Command-Q
Download and Run CTRLþR Command-R
Save CTRLþS Command-S
Paste CTRLþV Command-V
Close CTRLþW Command-W
Cut CTRLþX Command-X
Undo CTRLþZ Command-Z
Redo CTRLþShiftþZ Command-Shift-Z
Help F1 F1
Displays the Common Palette 1 1
Displays the Complete Palette 2 2
Displays the Custom Palette 3 3

Figure 2.2
The Lego Mindstorms NXT File menu provides access to commands that manage program files.
 Navigating the Mindstorms NXT 2.0 GUI 21

n Create Pack and Go—Creates a Pack and Go file facilitating the devel-
opment functions like My Blocks, Display Blocks, and Sound Blocks with
other NXT developers.
n Block Import and Export Wizard—Provides the ability to import new
programming blocks and to export custom developed programming
blocks.
n Image Editor—Provides the ability to create and edit graphic and text
files, which can then be downloaded and displayed on the NXT Brick’s
LCD.
n Remote Control—Provides you with the ability to remotely control your
robotic creations, controlling both speed and direction.
n Sound Editor—Provides the ability to create and edit sound files that
can be downloaded and played by the NXT Brick.
The Help menu contains commands that provide access to all the online help
resources listed below.
n Contents and Index
n Online Support
n Online Updates
n Register Product
n About LEGO MINDSTORMS NXT

Toolbar
The Mindstorms NXT 2.0 toolbar, shown in Figure 2.3, provides single click
access to commonly used commands and windows. Using the toolbar you can
create, open, and save program files. You can also cut, copy and paste, and work
with various tools. Icons located on the right side of the toolbar provide access to
the Robo Center and My Portal windows.

Programming Palette
The Programming palette contains a collection of programming blocks or icons
that are used in the creation of NXT-G programs. The programming blocks are
22 Chapter 2 n Getting Started

Pointer Tool
Pan Tool
Comment Tool My Portal
Create My Block Robo Center

Redo Change Profile

Undo
Paste
Copy
Cut
Save Program
Open Program
New Program
Figure 2.3
The Lego Mindstorms NXT toolbar provides access to commands that manage program files.

organized into three tabs, located in the bottom left corner of the Mindstorms
NXT 2.0 GUI. These tabs are as follows:
n Common Palette—Contains the most commonly used programming
blocks.
n Complete Palette—Provides access to all programming blocks.
n Custom Palette—Provides access to blocks that you create or upload into
Mindstorms NXT 2.0.
Figure 2.4 shows the Complete palette. The Action block group is selected,
revealing all of the programming blocks that it comprises. To use a block, click
on it and then drag and drop it onto the Work Area.

Hint
You will learn all about Mindstorms NXT 2.0 programming blocks in Part III, “NXT-G Programming.”

Configuration Panel
The Configuration Panel is displayed in the bottom left corner of the Mind-
storms NXT 2.0 GUI whenever a programming block is added to or selected in
 Navigating the Mindstorms NXT 2.0 GUI 23

Figure 2.4
The Complete palette provides access to all of Mindstorms NXT 2.0’s programming blocks.

Figure 2.5
The Configuration Panel is automatically displayed whenever you add or select a programming block
onto the Work Area.

the Work Area. The appearance and functionality of the Configuration Panel
varies, based on the currently selected programming block. Figure 2.5 shows
how the Configuration Panel looks when the Sound block is selected.
Using the Configuration Panel, you can customize the operation of the
programming block, modifying both input and output and other attributes
and actions.

NXT Controller
The NXT Controller provides you with the ability to communicate with the
NXT Brick. It is used to transfer program and data files to your NXT Brick. It
24 Chapter 2 n Getting Started

NXT Window Download and run

selected

Download Stop

Download and run

Figure 2.6
The second Time block has also been configured to delay program execution for five seconds.

also enables you to start and stop programs and to change NXT Brick settings.
The NXT Controller consists of the following five button controls, shown in
Figure 2.6.
n NXT Window—Displays the NXT Window, which is used to set up a
connection to a NXT Brick, change its name, view battery, connection,
storage, and firmware version and to manage NXT Brick memory usage.
n Download and run selected—Downloads and executes the selected por-
tion of the current NXT-G program file to your NXT Brick.
n Download and run—Downloads the current NXT-G program file to
your NXT Brick and executes it.
n Download—Downloads the current NXT-G program file to your NXT
Brick.
n Stop—Halts the execution of the current NXT-G program.

My Portal
A big part of the philosophy behind Mindstorms NXT 2.0 is based on sharing
and participating in the Lego Mindstorms community. The My Portal window,
shown in Figure 2.7, provides a gateway to the http://www.mindstorms.com web
site. The My Portal window shares space with the Robo Center. You also need
Internet access to take advantage of this feature. To access it, you must click on
the My Portal icon located on the left side of the Mindstorms NXT 2.0 toolbar.
You can use the My Portal window to access information on new models,
program files, sound and image files, and wall papers. You can also use it to
learn new tips and tricks.
 Navigating the Mindstorms NXT 2.0 GUI 25

Figure 2.7
The My Portal window provides direct access to all kinds of resources that you can use in your robotic
creations.

Robo Center
The Robot Center is located on the right side of the Mindstorms NXT 2.0 GUI.
It shares space with the My Portal window. As shown in Figure 2.8, the Robo
Center contains complete step-by-step instructions for creating four different
robots. These projects are outlined below.
n Vehicles—Complete instructions for building the Shooterbot robot
n Animals—Complete instructions for building the Robogator robot
n Machines—Complete instructions for building a Color Sorter robot
n Humanoids—Complete instructions for building the Alpha Rex robot

Little Help Window

The Little Help window shares space with the Work Area Map and is located in
the lower right side of Mindstorms NXT 2.0 GUI. The Little Help window is
26 Chapter 2 n Getting Started

Figure 2.8
The Robo Center window provides you with access to building instructions for four different robots.

Figure 2.9
The Little Help window automatically displays help information based on the currently selected object.

displayed when the upper tab, identified by a question mark, is selected. To work
with this window, shown in Figure 2.9, all you have to do is move the cursor
over an object in the work area. In response, the Little Help window displays
information about the object as well as a link to additional information. To see
the additional information, click on the More Help >> link displayed at the
bottom of the Little Help window.
When you click on the More Help >> link, Mindstorms NXT 2.0 displays the
corresponding help file using your default web browser. For example, Figure 2.10
 Navigating the Mindstorms NXT 2.0 GUI 27

Figure 2.10
The help file for the Sound Block provides extensive information for that block.

shows the help information that is displayed if you click on the More Help >> link
when the Sound block is selected.

The Work Area Map

As your NXT-G programs grow in size and complexity, they may become too
large to be displayed all at once in the Work Area. To make navigation within
the Work Area manageable, you can use the Work Area Map. The Work Area
Map is in the same space as the Little Help window and is selected by clicking on
28 Chapter 2 n Getting Started

Figure 2.11
The Little Help window helps you to move around large program files quickly.

the Magnifying Glass icon. As demonstrated in Figure 2.11, the Work Area Map
allows you to click and hold down the left mouse button on any area within the
window and then move the cursor to a new area. As you do, the Work Area
mirrors your actions, displaying whatever content is moved into focus within the
Work Area Map. (The in focus position of the Work Area is identified within
the Work Area Map by a white background.)

Work Area
The Work Area, shown in Figure 2.12, is the large gray gridded area located just
to the right of the Programming palette. This area is boundless, meaning that it
has no defined limits. It expands and contracts as necessary to allow for NXT-G
programs of any size. The Work Area is tabbed, allowing you to create or open
more than one NXT-G program at a time. To switch between programs all you
have to do is click on their respective tabs.
As you will learn in later chapters, NXT-G programs are created by dragging
and dropping different programming blocks onto the Work Area Map. As
shown in Figure 2.12, every new NXT-G program starts out with a Starting
Point sequence beam. To the right of the Starting Point is the word Start,
enclosed within four small bracket markers, which identify where the program’s
first programming block must be placed.

Trick
You can make additional room available when developing NXT-G programs by temporarily hiding
the Robo Center/My Portal windows. To do so, click on the orange Close button located on the far
right side of the toolbar. This will remove the window that is visible, enlarging the amount of space
allocated to the Work Area. To redisplay either of these two windows, all you have to do is click on
its toolbar icon.
 Other NXT 2.0 GUI Windows 29

Figure 2.12
The Work Area is where you develop your NXT-G programs using Programming clocks.

Other NXT 2.0 GUI Windows

The Tools menu provides access to a collection of specialized windows, each of
which is designed to perform a specific task. Each of these windows and its
purpose is examined in detail in the sections that follow.

Calibrate Sensors
The operation of your robotic creations can be affected by the conditions in
which they operate. Specifically, changes in environmental lighting and sound
may affect the way your robotic creations work. Because of this, your robotic
creations may work differently when you move them from one location to
another.
To manage the effects that different environmental conditions might have, you
can calibrate the NXT sensors to specific environments, allowing your robotic
creations to perform optionally in different environments. There are two ways of
calibrating sensors. One is through the Calibrate sensor window, which is
30 Chapter 2 n Getting Started

Figure 2.13
You can calibrate the sensors connected to your NXT Brick from this window.

accessed via the Tools menu. The other option is to use Calibration blocks
within your NXT-G programs.
In order to calibrate sensors, you must connect your NXT Brick to your
computer and turn it on. In addition, you must connect the appropriate sensor
to the brick. Next, click on Tools > Calibrate sensors. The Calibrate sensor
windows shown in Figure 2.13 will appear.

Hint
Neither the light nor the sound sensors are supplied with the Lego Mindstorms NXT 2.0 kit. These
sensors can be purchased separately from http://shop.lego.com.

Trap
If the window is grayed out, make sure that your NXT Brick is powered on. In addition, make sure
that it is connected to your computer.

Calibrating the Light Sensor

The following steps explain how to calibrate a light sensor.
1. Select the Light Sensor entry from the Listbox located in the List section.
2. Identify which port the sensor has been connected to on your NXT
Brick by selecting the appropriate radio button in the Port section.
 Other NXT 2.0 GUI Windows 31

3. Click on the Calibrate button.

4. Look for the message Min Value: to appear on the NXT Brick’s display,
aim the light sensor toward a location that the sensors should measure
as being dark, and press the NXT Brick’s orange Enter button.
5. Next, look for the message Max Value: to appear on the NXT Brick’s dis-
play, aim the light sensor toward a location that the sensors should
measure as being very bright, and press the NXT Brick’s orange Enter
button.
At this point the NXT Brick and the light sensor have been calibrated to operate
in the environment.

Calibrating the Sound Sensor

The following steps explain how to calibrate a sound sensor.
1. Select the Sound Sensor entry from the Listbox located in the List sec-
tion.
2. Identify which port the sensor has been connected to on your NXT
Brick by selecting the appropriate radio button in the Port section.
3. Click on the Calibrate button.
4. Look for the message Min Value: to appear on the NXT Brick’s display,
place the sound sensor in a quiet location within the environment that
you are calibrating, and press the NXT Brick’s orange Enter button.
5. Next, look for the message Select Max: to appear on the NXT Brick’s dis-
play, place the light sensor within the environment that you are calibrat-
ing, make a loud noise, and press the NXT Brick’s orange Enter button.
At this point the NXT Brick and the light sensor have been calibrated to operate
in the environment.

Update NXT Firmware

Firmware is the software that is installed on your NXT Brick at the factory. It is
responsible for starting the NXT Brick when powered on and for the NXT
Brick’s overall operation. From time to time, new versions of the firmware are
32 Chapter 2 n Getting Started

Figure 2.14
This window allows you to check for and apply firmware updates to your NXT Brick.

made available. These firmware updates may add new features and capabilities
to your NXT Brick or may fix firmware bugs. To update the firmware on your
NXT Brick, click on Tools > Update NXT Firmware. The Update NXT
Firmware window appears as shown in Figure 2.14.
To determine if any firmware updates are available, click on the Check button.
This will open your default Web browser and display a page on the Lego
Mindstorms web site. Click on the Firmware link that is displayed on this page
to view the most recent firmware update as demonstrated in Figure 2.15.
Click on the Downloads link to initiate the download of the most current
firmware update. Next, click on the Download button that appears and save the
download to your computer. Save the download file to one of the following
locations.
Microsoft Windows:
C:\Program Files\LEGO Software\LEGO MINDSTORMS NXT\engine\Firmware
 Other NXT 2.0 GUI Windows 33

Figure 2.15
The Firmware page lists the current and most recent firmware updates that are available.

Mac OS X:
Macintosh HD:Applications:LEGO MINDSTORMS NXT:engine:Firmware
Once the download is complete, return to the Update NXT Firmware window
and select the most recent firmware update from the Available Firmware Files:
list. Then click on the Download button. You can track the progress of the
download and installation of the firmware update by keeping an eye on the
progress bars located at the bottom of the window. Once all three progress bars
have turned green, the firmware upgrade process is complete. Click on the Close
button.
34 Chapter 2 n Getting Started

Figure 2.16
Creating a Pack and Go function that you can share with other Lego Mindstorms developers.

Create Pack and Go

If you want, you can share any customized block’s NXT functions, including My
Blocks, Sounds blocks, or Display blocks, associated with the current NXT-G
program with other Lego Mindstorms developers. To do so, click on Tools > Create
Pack and Go. The Create Pack and Go window appears as shown in Figure 2.16.
Next, enter a name for the function in the Pack and Go name: field. Click on the
Browse button to specify the location where you want to save it. Click on OK to save
the Pack and Go file.

Block Import and Export Wizard

If you purchase additional sensors for use in your robotic creations, you may
find that you have to import new programming blocks into Lego Mindstorms
NXT 2.0 before you can work with the sensors. Doing so is easy. Begin by
clicking on Tools > Block Import and Export Wizard to display the Block
Import and Export Wizard window as shown in Figure 2.17.
 Other NXT 2.0 GUI Windows 35

Figure 2.17
This window allows you to import third-party programming blocks.

Next, click on the Browse button and specify the location of the folder
containing the new blocks. A list of available blocks should be displayed. Select
the programming block(s) you want to import and click on the Import button.

Image Editor
Your NXT-G programs can display both text and graphics in the NXT Brick’s
LCD display. You can view and edit any of the graphic files that are supplied
with the NXT software, or you can create your own graphics from scratch using
the Image Editor, as demonstrated in Figure 2.18. The Image Editor works with
any of the following graphic file types:
n .jpg
n .bmp
n .png
n .ric
To access the Image Editor window, click on Tools > Image Editor. To open an
existing graphic, click on the Open button. To clear the drawing area, click on
the Clear button. To create or edit a graphic, you can use any of the drawing
36 Chapter 2 n Getting Started

Fill

Line
Pencil
Rectangle
Ellipse
Select for
Clipboard
Small, Medium,
Large
Undo
Redo

Text Erase
Figure 2.18
The Image Editor is used to develop graphics for display by your NXT-G applications.

tools displayed on the left side of the window. These tools work like their
counterparts in any typical paint or drawing program.
The NXT Brick’s LCD display is 100 pixels wide by 64 pixels tall. The grid
system display on the Image Editor window is also 100  64. The preview pane
on the right side of the window shows how the current graphic will appear when
displayed in the NXT Brick’s LCD window. Once you have finished creating or
modifying a graphic, you can save your work by clicking the Save button.

Trick
By default the NXT software saves graphics as .ric files. If you prefer, you can save graphics using a
different file format; just specify a .png, .bmp, or .jpg file extension as part of the filename.

Remote Control
The Mindstorms NXT 2.0 GUI includes a built-in remote control feature that
you can use to steer your robotic creation and perform one predetermined
action. You can also set and change speed. Remote Control is accomplished
from the Remote Control window, shown in Figure 2.19. To access this window,
click on Tools > Remote Control.
 Other NXT 2.0 GUI Windows 37

Figure 2.19
This window enables you to control your robotic creations remotely from your computer.

The Remote Control window is well suited to controlling robotic creations that
use two server motors to control movement and the third server motor to
perform an action. You can execute remote control in one of two ways. From the
Remote Control window, you can:
n Click on the graphical arrow keys to set direction of the two servo
motors used for movement.
n Click on the Action button to perform an action with the third servo
motor.
n Click on the Plus and Minus button to increate or decrease the speed of
the servo motors.
n Click on one of the eight speed indicator meter settings to adjust speed
more than one level at a time.
Alternatively, when the Remote Control window is open, you can control your
robotic creations using the keyboard shortcuts outlined in Table 2.2. The
advantage of using the keyboard to remotely control your robotic creations is
that with the keyboard you can push two buttons at the same time. As a result,
you can execute gradual turns, giving you refined control over the movement of
your robotic creations.
In order to control your robotic creation, you must establish a connection to its
NXT Brick. This is done from the NXT window, which you can access by
38 Chapter 2 n Getting Started

Table 2.2 NXT 2.0 Keyboard Shortcuts

Shortcut Description of Control

þ Increase speed
- Decrease speed
A Increase speed
Z Decrease speed
1 Adjust speed to level 1
2 Adjust speed to level 2
3 Adjust speed to level 3
4 Adjust speed to level 4
5 Adjust speed to level 5
6 Adjust speed to level 6
7 Adjust speed to level 7
8 Adjust speed to level 8
Space Bar Execute the Action server motor

clicking on the Connections button located at the bottom of the Motor

Configuration window. Instruction on how to work with the NXT window is
provided later in this chapter.
To assure that it works properly, you must configure how the Remote Control
windows affect the operations of your robotic creation’s servo motors. To set
this up, click on the Configure button located in the bottom right corner of the
Remote Control window. When you do so, the Remote Control window turns
into the Motor Configuration window, as shown in Figure 2.20.
Begin by specifying which two of your robotic creation’s servo motors are used
for movement by clicking on the Move Motors: section’s drop-down list and
selecting the appropriate server motor pairing. The letters displayed in this list
represent the ports to which the servo motors have been attached on the NXT
Brick. Next, specify direction by clicking on the appropriate radio button in the
Direction: section located under the Move Motors: section.
Next, configure the speed at which the robotic creation’s third servo motor
moves by dragging the slider control in the Action: section left or right to set
speed to some point in the range of 0 (no movement) to 100 (maximum speed).
 Other NXT 2.0 GUI Windows 39

Figure 2.20
The Motor Configuration window allows you to configure and fine-tune the remote execution of servo
motors.

Configure the direction at which the third servo motors moves by clicking on
the appropriate radio button in the Direction: section located under the Action:
section. When you’re done, click on the checkmark button to save your
configuration changes, or click on the X button to cancel your changes.

Sound Editor
You can enhance your NXT-G programs through the addition of sound effects
that are played by the NXT Brick. Using the Sound Editor window, shown in
Figure 2.21, you can record and create your own sound files or edit any of the
sound files that come with the Mindstorms NXT 2.0 software.
Sound files played on the NXT Brick must be no more than five seconds long.
The following procedure outlines the steps involved in creating or editing a
sound file.
1. Click on Tools > Sound Editor. The Sound Editor window appears.
2. Click on the Open button to select an existing sound file, or click on the
Record button to record a new sound file.
3. Although the Sound Editor can open or record audio files that are as
long as 10 seconds, it can only save files that are no more than 5 seconds
long. The wave graphic used to represent the sound file is displayed in
40 Chapter 2 n Getting Started

Adjust playback volume Play Record

Zoom in Zoom out
Figure 2.21
The Sound Editor window lets you create and play sound files that can be incorporated into NXT-G
programs.

red if the file is longer than 5 seconds. Wave files of less than 5 seconds
in length are shown in green.
4. Click on the Save button to save a sound file that is less than 5 seconds
long and specify a name for the file when prompted. If the sound file is
greater than 5 seconds, use the two slider controls located at each end of
the Sound Editor window to mark the beginning and end of a segment
of the sound file. If the segment that is cropped is less than 5 seconds
long, the wave graphic changes to green, signaling that it can be saved.
Click on the Save button to save the cropped portion of the sound file
and specify a name for the file when prompted.
If you want, you can also configure the value at which the NXT Brick will play
the sound file by moving the Adjust playback volume slider left or right as
desired. Any sound files that you create will automatically appear in the list of
sound files available to your NXT-G programs.

Hint
Sound file volume can also be configured using the Sound programming block, overriding any
settings you may specify in the Sound Editor.
 Managing NXT Brick Communication and Memory 41

Managing NXT Brick Communication and

Memory
In order to download the NXT-G programs that you develop on your computer
into your NXT Brick, you must establish a connection with your computer.
Connections are managed from the Communications tab on the NXT window.
The window’s Memory tab lets you see what is stored on your NXT Brick and
provides you with the ability to manage its contents.

Managing Connections to NXT Bricks

The NXT window is shown in Figure 2.22. This window can be accessed by
clicking on the NXT Controller’s NXT window button or by pressing CTRLþI
(Windows) or Command-I (Mac OS X). The NXT window can also be accessed
by clicking on the Connections button located on the Remote Control window.
Any existing connections to NXT Bricks are displayed on the left side of this
window. Detailed information about each connection includes the name assigned
to the NXT Brick, the connection type (USB or Bluetooth), and the status of
the connection. On the right side of the window you will see the name assigned
to the NXT Brick, which you can change; you can also change its current battery
strength, connection type, available storage, and firmware version.
You can refresh current connection information and initiate a scan for other
NXT Brick connections by clicking on the Scan button. To establish a

Figure 2.22
You can manage communication with NXT Bricks from the Communications tab.
42 Chapter 2 n Getting Started

Figure 2.23
You can manage the files stored on your NXT Brick from the Memory tab.

connection to an available NXT Brick, select it from the list and click on the
Connect button. To disconnect a connection, select it and click on the Remove
button. Removed connections can always be added back later.

Managing NXT Brick Memory

The Memory tab of the NXT window, shown in Figure 2.23, provides a detailed
view of the files stored on your NXT Brick. The NXT Memory Usage section
provides a color-coded view of the different types of files stored on the NXT
Brick. To view all of the files in a given category, click on the color for that
category. A listing of those files is then displayed in the center of the window.
Using the button controls located at the bottom of this window, you can delete
all of the files stored on the NXT Brick, upload new files from your computer, or
download files to your computer. You can also select individual files stored on
the NXT Brick. If you select the Show System Files checkbox, you can view and
delete some or all of the system files that come pre-installed on the NXT Brick.

Hint
Removing all system files from your NXT Brick won’t prevent it from operating. If necessary, you
can reinstall these files by restoring your NXT Brick to its factory configuration, as described later in
this chapter.
 Creating Your First NXT Program 43

NXT Brick comes equipped with 130.8 KB of memory. However, much of this
memory is used to store the NXT Brick’s system software, which consists of
things like example programs, graphic files, and sound files. As a result, you are
left with somewhere around 55 KB of available memory to work with. As time
passes and you download more and more NXT-G programs, graphic files, and
sound files into your NXT Brick, memory can become scarce. From time to time
you will need to remove files to make room for new files.

Restoring System Files by Reinstalling the Firmware

If you delete some or all of the NXT Brick’s system files and find later that you
need to restore those files, you can restore them. To do so, you must reinstall the
NXT Brick’s factory firmware. However, before doing so, make sure you back up
any files on your NXT Brick that you want to save.
To reinstall your NXT Brick’s original firmware, turn your NXT Brick on and
place it face down. Next, using a toothpick or paperclip, depress the Reset button
located inside the upper leftmost Technic hole (the hole that is immediately
above the USB port).

Backing Up and Restoring Files

To avoid losing files that you delete from your NXT Brick, you can back up
those files before removing them. To do so, select the file categories containing
those files and then select the desired file and click on the Upload button. Later,
if you wish, you can restore those files on your NXT Brick by returning to the
Memory tab on the NXT window, clicking on the Download button, and
selecting the files you want to download to your NXT Brick.

Creating Your First NXT Program

Now that you have reviewed Mindstorms NXT 2.0 GUI, let’s dive right in and
create your very first NXT program. The first step is to create and name a new
NXT program. To do so, type Hello into the Create New Program field located
at the bottom of the Mindstorms NXT 2.0 main screen, as shown in Figure 2.24.
When ready, click on the button labeled Go >> just to the right of the text field.
In response, a new NXT-G program is created and displayed. Initially, the
44 Chapter 2 n Getting Started

Figure 2.24
Assigning a name to a new NXT program.

program is empty. To add the programming logic needed to make your program
work, you must add programming blocks to the program.
Begin by dragging and dropping an instance of the Display block from the
Programming palette onto the Programming Area. This block provides the
ability to display text or graphics within the NXT display window. When you
release the Display block, it is automatically connected to the Start position.
Your next step is to configure the Display block, instructing it to display a text
string. To do so, select the Text option from the drop-down list located in the
Configuration Panel and then type Hello World! in the Simple Text field, as
shown in Figure 2.25.
Note that as you type in the text, a depiction of it is displayed to the right,
showing how the text will appear once it is displayed in the NXT. Next, drag and
drop a Time block from the Programming palette onto the Programming area.
By default, it will automatically snap into place just to the right of the first block.
Configure the Time block to pause execution for five seconds, as shown in
Figure 2.26.
Next, let’s modify the program to display a graphical smiley face. NXT-G
provides you with access to different graphic files, all of which can be displayed
on the NXT’s LCD. To set this up, select the Image option from the drop-down
list located in the Configuration Panel and then select Smile 01 from the list of
graphic files shown at the bottom of the Configuration Panel. A depiction of the
smiley face graphic is displayed in the preview window to the right, showing
you how it will appear when displayed by the NXT Brick, as demonstrated in
Figure 2.27.
To finish off the program, you need to add a second Time block. Drag and drop
a Time block from the Programming palette onto the Programming area. It
 Connecting Your NXT to Your Computer 45

Figure 2.25
A graphic T character is displayed in the lower right corner of the Display block indicating its content.

should automatically snap into place just to the right of the third block.
Configure the Time block to pause execution for five seconds, as shown in
Figure 2.28.
At this point your new NXT-G program is complete. In order to test it, you must
establish a connection to your NXT, download, and then run it.

Connecting Your NXT to Your Computer

The Lego Mindstorms NXT 2.0 kit comes with a USB cable, which can be used
to establish a connection to your computer. To use it to establish a connection,
power on your NXT and then use the cable to attach your NXT to your
46 Chapter 2 n Getting Started

Figure 2.26
The Time block has been configured to delay program execution for five seconds.

computer. To turn on the NXT Brick, press its (orange) Enter button. In
response, the NXT Brick powers on, displaying the Lego logo. This is followed
by the display of the Mindstorms icon and the playing of a sound that signals
that the NXT Brick has finished powering up. The main menu is then displayed.
In a few moments, your computer should recognize and install your NXT,
displaying a message telling you that new hardware is ready for use. At this point
you should be ready to download your new program into your NXT Brick.

Trick
If your computer supports Bluetooth, you can use it in place of the USB cable to connect to your
NXT Brick. Instructions for doing so are provided in the Lego Mindstorms User Guide that comes
with the Lego Mindstorms NXT 2.0 kit.
 Downloading Your NXT-G Program 47

Figure 2.27
The program is currently configured to display a text message, pause five seconds, and then display a
smiley face.

Downloading Your NXT-G Program

The NXT-G GUI provides you with a five-button graphical controller, located in
the lower right corner of the Programming Area, for communicating with your
NXT Brick. To download your program, click on the Download button. As soon
as you click on the Download button, a window similar to the one shown in
Figure 2.29 appears.
Once the program is completely downloaded, the window shown in Figure 2.29
disappears and your NXT Brick beeps, signaling the end of the process. At this
point, you can unplug the NXT Brick’s USB from your computer.
48 Chapter 2 n Getting Started

Figure 2.28
The second Time block has also been configured to delay program execution for five seconds.

Hint
If you run into any problems with the download process, make sure your NXT Brick has not
automatically powered itself off. If it has, turn it back on and try again. If that does not fix things,
double-check its connection and make sure that the USB cable has not become disconnected from
your computer or NXT Brick.

Running Your Program

Once your NXT-G program has been downloaded, it can be run. Just press the
NXT Brick’s orange button four times, and the NXT Brick will run the program.
The precise series of events that occur when you do this is outlined below.
 Summary 49

Figure 2.29
Status information is updated as the download process occurs.

1. Pressing the orange button the first time opens the My Files folder,
which is the default item on the NXT Brick’s main menu.
2. Pressing the orange button a second time selects the Software Files
option.
3. Pressing the orange button a third time, by default, selects the most
recently downloaded program.
4. Pressing the orange button a fourth time executes the selected program.

Summary
This chapter provided you with a detailed review of the menus, toolbar, and
windows that make up the Mindstorms NXT 2.0 GUI. You learned how to
calibrate sensors, update your NXT Brick’s firmware, work with the Image
Editor and Sound Editor, remotely control your robotic creations, manage
connections to the NXT Brick, and manage the NXT Brick’s memory. Finally,
you learned how to create your first NXT program, connect your NXT Brick to
your computer, download your NXT-G program into your NXT Brick, and
execute the NXT-G program.
This page intentionally left blank
 Chapter 3

Working with Electronic

Components

The Lego Mindstorms NXT 2.0 kit comes with 619 different pieces and parts. Of
these, the NXT Brick and the servo motors and sensors represent the critical
components in any robotic creation. Therefore, it is important that you have a
good understanding of each of these components and how to work with them.
In this chapter you will learn about each of the electronic components supplied
in the Lego Mindstorms NXT 2.0 kit, and you will learn about their uses and
capabilities.
The major topics covered in this chapter include:
n A detailed examination of the features of the NXT Brick
n A review of the NXT Brick’s menu system
n A detailed examination of each of the sensors
n A detailed examination of the features and capabilities of the servo motors
n An examination of the cables used to connect the NXT Brick to sensors
and motors

The NXT Brick

The NXT Brick is a programmable microcomputer. It is the computer brain that
drives your robotic creations, executing programs you write and bringing them
to life, allowing them to move and interact with their environment. According to

51
52 Chapter 3 n Working with Electronic Components

USB Port
Motor Ports (A, B, C)

LCD Display

Speaker
Left Button Right Button
On/Enter Button
Clear/Go Back Button

Sensor Ports (1, 2, 3, 4)

Figure 3.1
The NXT Brick is the brain of your robotic creations.

the Lego Mindstorms User Guide, the NXT Brick is an “intelligent computer-
controlled Lego brick.” As shown in Figure 3.1, the front of the brick is off-white
in color and its top, bottom, and back sides are gray.
As shown in Figure 3.1, the NXT Brick has numerous connection ports, buttons,
an LCD, and a speaker.

Hint
If you prefer a different color scheme, you may want to purchase the black version of NXT Brick. As
of the writing of this book, Lego had released a special 10th anniversary edition of the NXT Brick
dubbed the Black NXT Limited Edition (see Figure 3.2). This item was not yet available in the United
States. When it is, you will be able to purchase it at http://shop.lego.com. There is no word on how
long the black version will remain available. However, thanks to eBay and other similar venues, you
should be able to find one if you are really interested.

The NXT Brick is powered by six AA batteries that go in the back of the NXT
Brick and provide it with power, which is, in turn, also used to power the motors
and sensors. If you prefer, you can purchase the rechargeable lithium battery
pack shown in Figure 3.3 by visiting http://www.shop.LEGO.com and doing a
 The NXT Brick 53

Figure 3.2
The black version of the NXT Brick.

search on Rechargeable Battery. As of the writing of this book, this part sold for
$54.99.

Hint
The NXT Brick is a remarkably reliable computer. However, like all computers, the NXT Brick may
experience occasional problems. If it becomes unresponsive, check its battery level indicator,
located in the upper right corner of the NXT Brick’s display, to ensure that it does not need new
batteries. If your NXT Brick simply stops executing and does not respond to your commands, it may
be frozen. If this occurs, look at the upper right corner of the NXT Brick’s display, just to the left of
the battery icon, to see if the NXT icon is spinning. If it is not, you will have to reset the NXT Brick,
as explained in Chapter 2, “Getting Started.”
54 Chapter 3 n Working with Electronic Components

Figure 3.3
Over time the lithium rechargeable battery pack can save you money.

Technical Specifications
A breakdown of the technical specifications of the NXT Brick is provided in the
following list:
n 32-bit ARM7 Microcomputer
n 256 KB Flash, 64 KB RAM
n 8-bit AVR Microcontroller
n 4 KB Flash, 512 bytes of RAM
n Bluetooth Wireless (Class II V2.0)
n USB port (12 MB)
n 4 Input Ports
 The NXT Brick 55

n 3 Output Ports
n 100  64-pixel LCD
n Speaker—8 kHz Sound Quality
n Power: 6 AA Batteries
As you can see, the NXT Brick lacks the processing power of a typical desktop
computer. However, it is perfectly suited to what it has been designed to do:
provide intelligence and control over robotic creations.

Primary Features
The NXT Brick is packed with an assortment of features and controls, including:
n Three output ports and a USB port. Provide connections to servo
motors and to your computer.
n Four input ports. Provide connections to the sensors.
n A speaker. Plays sound files.
n Four NXT button controls. Used to interact with the NXT Brick menu
system.
n An LCD display window. Displays text and graphics.
These features and controls are explained more fully in the sections that follow.

Output/USB Ports
As shown in Figure 3.4, there are three motor ports located at the top of the
NXT Brick. Using the cables that are supplied in the Lego Mindstorms NXT 2.0
kit, you connect the kit’s servo motors to these ports, which are labeled A, B,
and C.
Next to the three motor ports is a USB port, which is used to establish a USB
connection between the NXT Brick and your computer using the USB cable
included with the Lego Mindstorms NXT 2.0 kit. Alternatively, you can use the
NXT Brick’s built-in Bluetooth capability to wirelessly connect to your com-
puter. To use Bluetooth, your computer must have either built-in Bluetooth or a
Bluetooth adapter. For a list of compatible Bluetooth adapters, go to http://www.
mindstorms.com/Bluetooth. You can also purchase the Bluetooth adapter shown
56 Chapter 3 n Working with Electronic Components

USB Port

Motor Port C
Motor Port A
Motor Port B
Figure 3.4
There are three connectors for servo motors and a USB connection at the top of the NXT Brick.

in Figure 3.5 at the Lego online store, currently for $37.99. To do so, go to http://
www.lego.com and search on Bluetooth Part # 9847.

Input Ports
In addition to the motor ports and USB ports located at the top of the NXT
Brick, there are also four sensor ports located at the bottom of the NXT Brick.
As shown in Figure 3.6, these ports, labeled 1, 2, 3, and 4, are used to connect
sensors to the NXT Brick.
Although you can connect any sensor to any sensor port when building your
robotic creations, the Try Me programs that you can use to experiment with and
text sensors require that the sensors be connected to their default ports. Table 3.1
lists the NXT Brick’s default sensor port assignments.

Speaker
The NXT Brick has a built-in speaker through which it can communicate by
playing different sounds through four small slits located on the right side of the
NXT Brick.

NXT Button Controls

As shown in Figure 3.1, the NXT Brick has four button controls, which are used
to navigate the NXT Brick’s menu system and to issue commands. These
buttons and their functions are listed here.
 The NXT Brick 57

Figure 3.5
Bluetooth capability enables wireless communication between your computer and the NXT Brick.

Sensor Port 1

Sensor Port 2
Sensor Port 4
Sensor Port 3
Figure 3.6
These ports are used to connect sensors to the NXT Brick.
58 Chapter 3 n Working with Electronic Components

Table 3.1 NXT Brick Default Sensor Ports

Port No. Default Sensor

1 Touch
2 Touch
3 Color
4 Ultrasonic

n On/Enter button. This orange-colored button is used to power on the

Brick, run programs, and select screen options.
n Left and Right Arrow buttons. These light gray-colored buttons are
used to move left and right through NXT Brick menus.
n Clear/Go Back button. This dark gray-colored button is used to go
backward in the menu system.
In addition to facilitating interaction with the NXT Brick’s menu system, you
can use the On/Enter and Left and Right Arrow buttons as sensors in your
robotic creations.

LCD Display Window

As shown in Figure 3.1, the NXT Brick has a liquid crystal display, or LCD,
through which it displays text and graphics. The monochrome display is 100
pixels wide by 64 pixels high. The LCD serves multiple purposes. It can be used
to control the execution of robotic creations. It can be used to create new
programs. It can even be used to display and play computer games, such as Tic-
Tac-Toe and Hangman.
Figure 3.7 shows a depiction of the NXT Brick’s LCD. When not running a
program, it displays the NXT Brick’s menu systems, which consist of a
hierarchical collection of graphics menu icons. As shown in Figure 3.7, the
LCD is large enough to display three menu icons at a time.
As shown in Figure 3.7, a series of graphic icons and text is displayed across the
top of the display area. The first icon shows the NXT Brick’s current Bluetooth
 The NXT Brick 59

NXT Brick
Name
USB Icon NXT Icon

Bluetooth Battery Level

Icon Indicator

Figure 3.7
The NXT Brick’s LCD display is able to display three menu options at a time.

Figure 3.8
The NXT Brick indicates its Bluetooth status by way of a Bluetooth icon.

Figure 3.9
The NXT Brick indicates its USB status by way of a USB icon.

status. There are three possible states, each of which is represented by a different
icon. Figure 3.8 identifies these states and their associated icons.
The second icon at the top of the LCD shows the NXT Brick’s current USB
status. There are two possible states, each of which is represented by a different
icon. Figure 3.9 shows these states and their associated icons.
The name assigned to the NXT Brick is displayed as a text string at the top
center of the LCD display. The default name is NXT. As covered in Chapter 2,
you can change your NXT Bricks from the NXT window.
60 Chapter 3 n Working with Electronic Components

The fourth icon displayed near the upper right corner of the LCD is the
Mindstorms icon. When operating properly, this icon should continuously spin.
If your NXT Brick becomes unresponsive, check on the status of this icon. If it
has stopped spinning, your NXT Brick has frozen up. Try turning it off and on.
If this does not get the NXT Brick working again, you may have to reset it as
covered in Chapter 2.
The last of the icons displayed at the top of the NXT Brick’s LCD is the Battery
Level indicator icon, which graphically depicts the NXT Brick’s current battery
level.

The NXT Brick’s File System

You can interact directly with the NXT Brick through its menu system. The
menu system consists of seven primary menus, each of which provides access to
a different category of options. As is demonstrated in Figure 3.7, the NXT Brick
displays three menu items at a time, each of which appears as a graphic icon.
You navigate between these menu icons using the Left and Right button
controls. You can open a menu by selecting it and pressing the On/Enter
button. You can go backward within the menu systems by pressing the Clear/Go
Back button.
Figure 3.10 identifies the seven primary menus in the NXT Brick menu system
and shows the submenu options that each provides access to.
The following list provides a brief description of the functionality provided by
each of the seven primary menus.

Figure 3.10
A depiction of the NXT Brick’s file system.
 The NXT Brick’s File System 61

n My Files. Provides access to the programs you have created.

n NXT Program. Allows you to build small programs in five steps using
commands available under this menu.
n NXT Datalog. Facilitates sensor data logging.
n View. Lets you observe the real-time collections of data from sensors
and motors.
n Bluetooth. Configures and manages Bluetooth connections.
n Settings. Configures NXT Brick settings.
n Try Me. Provides access to programs designed to test sensors and
motors.
A more detailed examination of each of the seven primary menu options and
their submenu contents is provided in the sections that follow.

My Files
The My Files folder provides access to NXT-G programs that you create and
download from your computer to programs that you create directly on the NXT
Brick. The My Files menu provides access to four submenus, listed here.
n Software files. Stores all of the NXT-G programs that you download
into the NXT Brick from your computer.
n NXT files. Stores any programs you create on the NXT Brick.
n Sound files. Stores all of the sound files that are pre-installed on the
NXT Brick as well as any sound files that you add to your NXT-G
programs.
n Datalog files. Stores log files containing variable and sensor values
generated during program execution.

NXT Program
This menu contains options that guide you through the creation of small NXT-G
programs. These programs are created in five steps, each of which consists of a
different command. Programs created from this menu require that sensors and
motors be connected to their default ports.
62 Chapter 3 n Working with Electronic Components

NXT Datalog
Data logging is the process of recording data over a period of time using sensors.
Using the options provided on this menu, you can configure the NXT Brick
along with its sensors to collect the following data.
n Temperature C
n Temperature F
n Sound dB
n Sound dBA
n Reflected light
n Ambient light
n Motor rotations
n Motor degrees
n Touch
n Ultrasonic inch
n Ultrasonic cm
n Color

View
Options on this menu allow you to view real-time data collection from sensors
connected to you next. With the appropriate sensors and motors in place, you
can view data for any of the following:
n Sound dB
n Sound dbA
n Reflected light
n Ambient light
n Temperature C
n Temperature F
n Motor rotations
 The NXT Brick’s File System 63

n Motor degrees
n Touch
n Ultrasonic inch
n Ultrasonic cm
n Color

Bluetooth
This submenu is used to change Bluetooth options on the NXT Brick. It contains
the following four submenus:
n My Contacts. Stores a list of trusted Bluetooth contacts.
n Connections. Displays a list of current Bluetooth connections.
n Visibility. Controls whether other Bluetooth devices can see your NXT
Brick.
n On/Off. Enables and disables Bluetooth functionality.
This menu also contains a Search command that can be used to look for
Bluetooth-enabled devices within range of the NXT Brick.

Settings
The Settings menu lets you modify any of the following NXT Brick config-
uration settings.
n Volume. Allows you to modify the audio level at which sounds are
played.
n Sleep. Lets you specify how many minutes of inactivity must pass before
the NXT Brick puts itself to sleep. Valid options are 2, 5, 10, 30, and
60 minutes, or Never.
n NXT Version. Display NXT version information.
n Delete files. Lets you delete all of the downloaded programs stored in
any of the following subfolders: software files, NXT files, sound files, and
datalog files.
64 Chapter 3 n Working with Electronic Components

Try Me
Provides access to six sample programs designed to test the operation of the
NXT Brick’s sensors and motors. These sample programs are listed here:
n Try-Color
n Try-Touch
n Try-Light
n Try-Ultrasonic
n Try-Motor
n Try-Sound
Executing these tests is easy. For example, to execute the Try-Touch program,
use one of the NXT cables to connect the color sensor to port 1 on the NXT
Brick and then turn on the NXT Brick and select Try Me > Try-Touch > Try-
Touch Run. Next, press the orange-tipped cone at the touch sensor. In response,
a graphical image of a face appears and says “whoops.” Repeat this test as many
times as you want and then terminate the Try-Color program by pressing the
Clear/Go Back button.

Trap
In order for each of the six tests to work, you must connect the sensors to their default ports on the
NXT Brick using the RJ12 cables provided as part of the Lego Mindstorms NXT 2.0 kit.

The Sensors
The Lego Mindstorms NXT 2.0 kit comes equipped with four sensors, listed
here.
n Color Sensor
n Two Touch Sensors
n Ultrasonic Sensor
These sensors facilitate the building of robotic creations that can touch, detect
color and light, and even detect other objects. Two commonly used sensors not
found in the Lego Mindstorms NXT 2.0 kit are the light and sound sensors.
 The Sensors 65

These two sensors were part of the Lego Mindstorms NXT 1.0 kit. Some of
programs found on the NXT Brick’s Try Me menu are designed to work with the
light and sound sensors. You can purchase both of these sensors online at http://
shop.lego.com.

Hint
Several other sensors are available. Some are made by Lego and some are made by third-party
companies. All can be purchased online at the Lego store. These sensors include:

n Compass sensor

n Accelerometer sensor

n Infrared sensor

n Gyroscopic sensor

n Temperature sensor

In addition to these sensors, Lego Mindstorms NXT 2.0 is also capable of supporting sensors from
the Lego RCX kit. These sensors include the rotation, light, touch, and temperature sensors.
However, a converter cable, which you can purchase from http://shop.lego.com, is required.

Color Sensor
The color sensor, shown in Figure 3.11, enables your robotic sensor to detect
different colors and light, providing your robotic creations with a form of vision.
In addition, this sensor provides a third function in that it can also be used as a
lamp to generate light. The color sensor can detect six different colors: red,
green, blue, yellow, black, and white. The color sensor supports a light sensor

Figure 3.11
The Color sensor provides your robotic creations with a form of vision, allowing them to detect different
colors and variations in light.
66 Chapter 3 n Working with Electronic Components

Figure 3.12
The Touch sensor can be used to create robots that are able to detect when they come into contact with
other objects.

mode, enabling it to detect light intensity within a room. It can also measure the
light intensity of colored surfaces. The sensor returns a value from 0 to 100,
where 0 represents complete darkness and 100 represents the brightest level. In
lamp mode the sensors can display red, green, or blue light.

Touch Sensors
The Lego Mindstorms NXT 2.0 kit comes with two touch sensors. A touch
sensor, shown in Figure 3.12, provides your creations with a sense of touch,
allowing them to feel and react to things around them. The touch sensors attach
to your robotic creation via connectors located underneath the sensor. In
addition, the sensor’s orange tip has a crosshair hole that can be used to further
customize the sensor.
The orange tip of the touch sensor registers contact with other objects. It
functions as a push button, registering two different states, pressed or released. A
value of 1 is generated when the orange tip is pressed and a value of 0 is
generated when it is not being pressed. Any of the following events can trigger a
touch sensor:
n The orange tip is pressed
n The orange tip is released
n The orange tip is pressed and then released
 The Sensors 67

Figure 3.13
The Ultrasonic sensor can be used to detect objects and determine their distance.

Ultrasonic Sensor
While the color sensor provides your robotic creations with the ability to detect
color and light, the ultrasonic sensor (shown in Figure 3.13) provides your
creations with the ability to see objects and to determine their distance. Using
this sensor, you can create robots that can avoid other objects as they move
about or track and target objects that come into range.
The ultrasonic sensor is capable of measuring distances between itself and other
objects. It can also detect movement. It detects objects and measures the distance
between the sensor and the objects. In this way, it provides your creations with
the ability to determine their location. The sensor can cover a maximum
distance of 255 centimeters (100 inches) and with a precision level that is
within þ/ 3 centimeters (1.19 inches).
The Ultrasonic sensor operates on the same basic principle as sonar systems, as
depicted in Figure 3.14. It sends out high frequency sound waves, which reflect
off of objects in front of the sensor. The sensor keeps track of how long it takes
for the sound waves to bounce off of an object and return, and then calculates
distances based on the elapsed time.

Figure 3.14
A depiction of the ultrasonic sensor sonar-like operation.
68 Chapter 3 n Working with Electronic Components

Like all sonar base systems, the ultrasonic sensor is able to see solid objects easier
than software objects, Similarly, larger objects are easier to detect than smaller
objects.

Using NXT Brick Buttons as Sensors

Using the NXT Buttons programming block, you can create NXT-G programs
that can use the NXT Brick’s On/Enter button and the Left and Right Arrow
buttons as touch sensors. This allows you in effect to turn your brick into a
collection of touch sensors. You will learn how to program using NXT-G and to
work with programming blocks later, in Chapters 6–8.

Servo Motors
Mindstorms NXT 2.0 includes a set of three servo motors, shown in Figure 3.15,
that provide the ability to make your creations move and grasp things. The servo
motors have a number of connection points where they can be attached to your
creations. Servo motors have built-in reduction gear assemblies that include
optical rotary encoders that sense and track rotation.
Using its servo motors, your robotic creations can move, rotate, and grasp. Each
servo motor includes an integrated tachometer. A tachometer is a rotation
sensor that precisely controls the rotation of the motors. Servo motors transfer
motion through a pair of circular orange wheels that can be connected to your
robotic creations.

Figure 3.15
Servo motors provide your robotic creations with the ability to move.
 Cables 69

Servo motor rotations are measured either by rotations or degrees. 360 degrees
represent a complete rotation. Servo motors operate with a precision or þ/ one
degree. When working with code blocks, you can specify either the number of
times a servo motor should rotate or the number of degrees by which it should
rotate. In addition, you can also configure a motor to run continuously for a
specified period of time.

Cables
As shown in Figure 3.16, the Lego Mindstorms NXT 2.0 kit includes seven
different cables of varying lengths. These cables are used to connect the sensors
and servo motors to the NXT Brick. These cables contain six wires and have
RJ12 connectors.

Figure 3.16
Additional sets of replacement cables can be purchased online from the Lego store.
70 Chapter 3 n Working with Electronic Components

Table 3.2 NXT RJ12 Cable Connectors

Count Length

1 20 cm/8 inches
2 50 cm/20 inches
4 35 cm/14 inches

The only difference between the seven cables is their length. The Lego Mind-
storms NXT 2.0 kit includes the list of cables outlined in Table 3.2.
Even though the cables that are supplied with the Lego Mindstorms NXT 2.0 kit
look like telephone cables, they are not. Telephone cables are four-wire cables,
whereas the cables supplied with the kit are six-wire and therefore not
compatible.

Note
The cables are among the most delicate pieces in the kit. Their RJ12 connectors are easily broken if
not handled carefully. Should one break, you can purchase replacement cables at the Lego store,
located at http://shop.lego.com, as shown in Figure 3.16. At the time this book was written, a set
of replacement connector cables cost $9.99.

Summary
The electronic components supplied with the Lego Mindstorms NXT 2.0 kit are
the key components in any robotic creations. Therefore, a good understanding
of the components and how they work is essential to any Mindstorms developer.
In this chapter you learned all about the NXT Brick, sensors, and the servo
motors. You learned that the buttons on the NXT Brick can also be used as
touch sensors. You learned about the NXT Brick’s menu system. Lastly, this
chapter provided you with an overview of the cables that are used to connect the
NXT Brick to the sensors and motors.
 Chapter 4

Adding Blocks and Gears

In Chapter 3, “Working with Electronic Components,” you learned all about the
NXT Brick and the electronic motors, sensors, and cables that are included as
part of the Lego Mindstorms NXT 2.0 kit. These are important pieces, but they
only represent 15 of the 619 pieces in the kit. A thorough understanding of the
other pieces is essential to robotic development. In this chapter you will learn
about all of these pieces, including how to identify them, their function, and
their color and quantity.
The major topics covered in this chapter include:
n Beams
n Connectors
n Gears
n Other pieces

Identifying Different Pieces and Parts

One of the challenges of working with the many pieces and parts provided in the
Lego Mindstorms NXT 2.0 kit is that other than the NXT Brick and the
electronic components, Lego has not assigned names to the other pieces. This
can make identifying them challenging. As a result, different people refer to the
same parts using different names. As you can imagine, this can lead to
confusion. To facilitate part identification in this book, a number of different

71
72 Chapter 4 n Adding Blocks and Gears

identification techniques will be applied to help simplify things. This will include
using attributes like part length and color as well as categorizing parts into
differently named categories and leveraging a few Lego terms.

Building a Foundation with Beams

One of the primary parts used in just about any robotic creation is the beam.
Beams are used to build a sturdy framework. You can think of beams as being
akin to the metal beams that are welded together to make up a bicycle frame.
Without a strong frame, a bicycle won’t support the rider’s weight. The frame
also provides the framework to which other pieces and parts are attached,
providing the foundation upon which robotic creations are based.
The Lego Mindstorms NXT 2.0 kit provides several different types of beams.
These include:
n Straight Beams
n Angular Beams
n T-beams

Straight Beams
Straight beams are one of the most commonly used pieces in any robotic
creation. They have a smooth exterior, and their ends are rounded. Straight
beams are perforated with circular holes that run down the middle of the beam.
The circular holes are used to connect the straight beams to other pieces using
other connector pieces. Figure 4.1 identifies the eight types of straight beams in
the Lego Mindstorms NXT 2.0 kit.
Straight beams are identified by their length, which is measured using a unit of
measure referred to as a module. A module is 8mm long, representing the
distance between the outer edge of the beam and the center of the space located
between its next two closest holes, which is the same as the distance between the
center positions on either side of a hole, as depicted in Figure 4.2.
As demonstrated in Figure 4.1, this book identifies straight beams by specifying
their length followed by their name. Straight beams come in three colors. The
 Building a Foundation with Beams 73

Figure 4.1
Straight beams are used to provide robotic creations with a strong framework.

Figure 4.2
An example of a straight beam that is three modules in length.
74 Chapter 4 n Adding Blocks and Gears

Figure 4.3
Except for the 2M beam, all straight beams have only circular holes.

Figure 4.4
Circular holes allow axles free movement.

2M straight beam is black, the 3M straight beam is dark gray, and the 5M
through 15M straight beams are all light-gray or white. However, because color
is not an attribute that is needed to distinguish one straight beam from another,
it is not included in the names of the beams referenced in this book.
With the exception of the 2M straight beam, all straight beams have circular
holes at both ends. As shown in Figure 4.3, the 2M beam differs from other
straight beams in that it has a circular hole at one end and a cross-hole at the
other.
The key difference between circular holes and cross-holes is that when you place
an axle in an open hole, the beam is able to spin freely as depicted in Figure 4.4.
 Building a Foundation with Beams 75

Figure 4.5
Using axles inserted into angle beam cross-holes in order to build rigid structures.

When an axle is inserted into the cross-hole of a 2M straight beam, a rigid

connection is made and the beam in not able to move freely.
Both circular holes and cross-holes have their own unique purposes. Round
holes allow flexibility and facilitate axle movement, which is needed in situations
where the axle is connected to a gear or to a rim and tire. Cross-holes are useful
in situations where you need to build strong rigid structures, such as the
structure shown in Figure 4.5.

Angular Beams
Another type of beam included in the Lego Mindstorms NXT 2.0 kit is the
angular beam. With angular beams, often referred to simply as angled beams,
one or more sections of the beam are angled. Figure 4.6 shows all eight of the
angular beams that are provided in the kit.
Angular beams can be used to create complex structures. They can also be used
in all sorts of creative ways, such as to create claws for robotic cranes. Like
straight beams, angular beams are measured and identified using modules.
Angular beams range in size from 5M to 11.5M. Angular beams vary in their
degree of angle, with the maximum angle of 90 degrees.
As demonstrated by the 9M angular beam shown in Figure 4.7, most angular
beams begin and end with cross-holes, allowing for the creation of rigid
connections using axles.
76 Chapter 4 n Adding Blocks and Gears

Figure 4.6
Angular beams come in different sizes, shapes, and colors.

Figure 4.7
Most angular beams have cross-holes at both ends.
 Connectors 77

The T-Beam
The final type of beam included in the Lego Mindstorms NXT 2.0 kit is the T-
beam. As shown in Figure 4.8, this beam is T-shaped and is 3M wide and 3M
tall. This beam consists entirely of round holes. It can be used in various creative
ways to connect pieces in ways that other beams cannot.

Connectors
The largest category of pieces included in the Lego Mindstorms NXT 2.0 kit is
composed of the connectors. It includes the subcategories listed here.
n Axles
n Bushings
n Pegs
n Angle connectors
n Steering links
n Cross blocks
n Peg blocks
n Other connectors
These different types of connectors facilitate connections, allowing you to
connect and tie together different Mindstorms pieces into a cohesive whole.

Axles
Axles are cross-shaped shafts of varying lengths that can be used to connect to
any Mindstorms piece that has a cross-hole connection. Axles are often used in
conjunction with gears and servo motors to transmit motion. The Lego

Figure 4.8
Both sides of the T-beam are the same length.
78 Chapter 4 n Adding Blocks and Gears

Figure 4.9
Axles are used to establish connections and to transmit motion.

Mindstorms NXT 2.0 kit includes a total of 61 of these pieces as shown in

Figure 4.9. Axles can be used in conjunction with cross-holes on beams to create
rigid connections and used with circular holes that allow the axles to spin.
Like beams, the length of axles is measured in terms of modules. Figure 4.9
identifies the length of every axle included in the Lego Mindstorms NXT 2.0 kit.

Bushings
One of the issues of working with axles is that they tend to slip out of their
connections to other pieces. To address this issue, the Lego Mindstorms NXT
2.0 kit includes three types of bushing connectors. Bushings hold their axle’s
position firmly, locking other pieces that may be connected to an axle in place.
Figure 4.10 shows the three types of bushing connectors supplied in the kit.
Figure 4.11 demonstrates the use of the bushing and half-bushing connectors.
The half-bushing connector firmly holds its position on the axle where it is
 Connectors 79

Figure 4.10
Bushings are used to establish rigid axle connections.

Figure 4.11
Bushings are used to cap the ends of axles, to hold pieces in place on an axle, or as separators.

placed. In Figure 4.11 the bushing has been placed at the end of the axle. Any
number of other pieces can be placed between these two bushings, and their
positions will be firmly maintained.
Bushings can also be used as separators in order to create space between
different pieces attached to an axle. The Bushing 4 Peg piece has characteristics
of both bushings and pegs, which are discussed in the next section.

Pegs
Though small in stature, pegs are big in terms of utility, providing you with the
ability to connect beams and other types of pieces that have holes. As shown in
80 Chapter 4 n Adding Blocks and Gears

Figure 4.12
There are 10 different types of pegs.

Figure 4.12, the Lego Mindstorms NXT 2.0 kit contains 10 different types of
pegs. In total, 204 of these pegs are supplied in the kit.
Some pegs are designed to fit circular holes, some are designed to fit cross-holes,
and some are designed to fit both types of holes. In addition, pegs are either
smooth or friction. Smooth pegs move freely within round holes, whereas friction
pegs are designed to firmly hold their position. Regardless of the types of
connections that pegs have, one feature common to all pegs is the stop ridge. As
shown in Figure 4.13, the stop ridge determines how far the peg can get into a hole.
As demonstrated in Figure 4.14, pegs are used to connect different pieces
together. In the case of Figure 4.14, two straight beams are ready to be connected
using two connector pegs with friction.
Figure 4.15 shows the result of the previous example, once the two straight
beams are connected by pegs. The result is a new sturdy connection.
 Connectors 81

Figure 4.13
The stop ridge is a feature common to all pegs.

Figure 4.14
Creating a rigid connection using a pair of connector pegs with friction.

Figure 4.15
Two straight beams connected by a pair of pegs.

Angle Connectors
Another important category of connector is the angle connector, which is used
to establish connections between axles. As shown in Figure 4.16, three different
types of angle connectors are supplied with the Lego Mindstorms NXT 2.0 kit.
Angle connectors can be used to connect two axles and to create 180-degree
(straight) connections, to connect two perpendicular axles, and to establish 90-
degree connections.
Figure 4.17 demonstrates the use of all three angle connectors. Here, two axles
are connected using an Angle Connector 90-Degree connector. Each of the axles
82 Chapter 4 n Adding Blocks and Gears

Figure 4.16
Angle connectors establish connections between axles.

Figure 4.17
An example of the use of angle connectors.

is, in turn, connected to a different type of angle connector, allowing for

additional connections.

Steering Link
The steering link, shown in Figure 4.18, is designed to establish connections with
either the Friction Ball Peg or the Smooth Axle Ball Peg. These connections are
very strong. They can be used to add a decorative look or to establish flexible
connections in robotic creations that bend, stretch, and move.
 Connectors 83

Figure 4.18
The steering link creates sturdy connections.

Figure 4.19
The steering link connects to ball pegs.

Figure 4.19 shows an example of the steering link used to establish a connection
between two Friction Ball Pegs.

Cross Blocks
Cross blocks, shown in Figure 4.20, are a combination of beams and bushings,
providing a great deal of flexibility of use. Cross blocks combine circular and
cross-hole connections. Cross blocks allow for the establishment of different
types of connections. These blocks provide enough variety to tackle most every
need and scenario.

Peg Blocks
Peg blocks are a highly specialized type of peg, combining features of beams and
pegs. Peg blocks have circular holes, which run in multiple directions. Peg blocks
facilitate parallel and perpendicular connections. The Lego Mindstorms NXT 2.0
kit contains three types of peg blocks, as shown in Figure 4.21.

Other Connectors
In addition to all of the different types of connections discussed so far, the Lego
Mindstorms NXT 2.0 kit contains three additional connectors that do not fit
into any of the previously discussed categories. These three connectors are
shown in Figure 4.22.
84 Chapter 4 n Adding Blocks and Gears

Figure 4.20
Cross blocks combine qualities of beams and bushings.

The Cross Axle Extension is used to connect two axles, establishing a longer axle
as a result, overcoming any axle length limitations in the kit. The Catch with
Cross-hole connector connects axles that intersect perpendicularly. The Flexible
Axle Damper 2M connector is used to connect axles that run in parallel and
supports robotic creations that require flexibility.

Gears
Gears are used to transmit motion. The Lego Mindstorms NXT 2.0 kit provides five
different types of gears. As shown in Figure 4.23, a total of 11 gears is provided.
The first four gears shown in Figure 4.23 transmit motion through their teeth
while rotating. Gears connect to one another, or mesh, by interlocking their
 Gears 85

Figure 4.21
Peg blocks have features found in beams and pegs.

Figure 4.22
All three of these blocks establish connections to axles.
86 Chapter 4 n Adding Blocks and Gears

Figure 4.23
Gears are used as a means of transferring motion.

teeth. The rotation of one gear results in the rotation of the gear with which it is
meshed. Gears have cross-holes in their centers that are used to connect them to
axles. The axles are, in turn, threaded through circular holes in beams and other
pieces, allowing them to spin freely.
As shown in Figure 4.23, gears are identified based on the number of teeth they have.
The first four types of gears shown in Figure 4.23 are conical gears. Their teeth, as
shown in Figure 4.24, are shaped to allow them to mesh with one another when
mounted on either a parallel axis or when mounted perpendicular to one another.

Creating Gear Trains

The use of two or more gears together creates a gear train. In the example shown
in Figure 4.25, two 20T Double Conical Gears have been used to create a gear
train using an angular beam. The gear train is pictured twice, providing you with
both a frontal and a top view.
 Gears 87

Figure 4.24
Conical gear teeth come to a single point on both ends.

Figure 4.25
A two-gear “gear train” mounted on an angular beam.

When used in pairs, each gear in a gear train moves in an opposite direction as
depicted in Figure 4.26.
Gear trains can consist of any number of gears. In a gear train the gear that is
responsible for transferring motion to the other gears is referred to as the driver
88 Chapter 4 n Adding Blocks and Gears

Figure 4.26
A depiction of the direction that gears move in a gear train made up of two gears.

Figure 4.27
A hand crank made using a gear train with three gears.

gear. It is connected to a server motor via an axle. The last gear in the gear train
is referred to as the driven gear. If there are any gears between the driver gear
and the driven gear, these are referred to as idler gears. For example, Figure 4.27
shows a gear train made up of three gears.

Trap
As you add more gears to a gear train, more friction is introduced, reducing the overall
effectiveness of the gear train. In principle, it is best to keep the number of gears in gear trains
as small as possible.
 Gears 89

Figure 4.28
An inventory of the pieces needed to build your own hand crank.

Figure 4.29
A visual depiction of the steps involved in assembling your own hand crank.

The parts needed to re-create the hand crank shown in Figure 4.27 are shown in
Figure 4.28.
Assembly directions are provided in Figure 4.29.
90 Chapter 4 n Adding Blocks and Gears

Figure 4.30
You can use any number of idler gears in a gear train.

Figure 4.31
The knob gear only works with other knob gears.

Figure 4.30 depicts the direction that gears move in a gear train made up of three
gears. As you can see, each gear moves in the opposite direction of the gear that
drives it.
Idler gears are used to bridge gaps between driver and driven gears when they
are too far apart to mesh. Idler gears can also be used to control the direction in
which the driven gear rotates. Using an odd number of idler gears, you can
create a gear train in which the driven gears move in the same direction as the
driver gear. Using an even number of idler gears, on the other hand, causes the
driven gear to rotate in the opposite direction from the driver gear.
The knob gear does not look like a typical gear. It has four circular knobs that
rotate around its axis. The knobs mesh with knobs on other knob gears. Like
other gears, it transfers motion from one axle to another, provided the other axle
also has a knob gear. Figure 4.31 demonstrates how knob gears work together.
 Gears 91

Note that knob gears rotate in opposite directions as they mesh together. Like
other gears, you can create gear trains using knob gears.

Managing Gear Train Performance

Gear train performance is measured in terms of speed and torque as it affects the
driven gear and the axle to which it is connected. Speed is a measurement of
how fast the driven gear’s axle is rotated. Torque, on the other hand, measures
the strength at which the axle is turned.
You can affect speed and torque by controlling a gear train’s gear ratio. Gear
ratio describes the rotation of the driver gear relative to the driven gear. If, for
example, a gear train’s driver gear rotates three times for each rotation of the
driven gear, its gear ratio is 1:3. Any idler gears in the gear train are ignored. An
easy way of calculating the gear ratio is to compare the number of teeth in the
driver and driven gears. For example, if the driver gear in a gear train is the 36T
Double Conical Gear and the driven gear is also a 36T Double Conical Gear, its
gear ratio is 1:1. If, on the other hand, the driven gear is the 12T Double Conical
Gear, the gear ratio would be 12:36, which, when simplified, is 1:3. Thus, by
changing gear sizes, you can directly affect gear ratio.
If you either decrease the size of the driver gear or increase the size of the driven
gear, you are said to be gearing down. In a gear train where the ratio is 1:3, the
driver gear must rotate three times in order to make the driven gear rotate one
time. The larger the driver gear is in relation to the driven gear, the slower the
speed of the gear train and the greater its torque.
If you either increase the size of the driver gear or decrease the size of the driven
gear, you are said to be gearing up. When the driven gear is smaller than the
driver gear, the speed of the gear train is higher and its torque is lower. As such,
gearing up can be used to decrease the torque of a robotic creation and make it
go faster.

Trick
An alternative to gearing down or gearing up is to programmatically control gear train speed using
programming blocks, which can be used to execute greater control over gear ratio.
92 Chapter 4 n Adding Blocks and Gears

Figure 4.32
These parts are essential elements of mobile robotic creations.

Tracks, Rims, and Tires for Mobile Robots

Another important category of parts includes tracks, rims, and tires. These
pieces, shown in Figure 4.32, are essential to any mobile robotic creation,
providing them with the ability to move. The rim attaches directly to axles and
transfers motion passed through axles to either tires or tracks.
Two rubber tracks are provided in the Lego Mindstorms NXT 2.0 kit and are
perfect for making things like tanks, construction vehicles, and other such
machines. When used, a track is wrapped around a pair of rims. When the rims
turn, so does the track. In similar fashion, you can use tires in place of tracks to
create cars and any other type of wheeled vehicle or machine. The tires are made
to fit snuggly around the rims.

Other Parts
The remaining pieces and parts that make up the Lego Mindstorms NXT 2.0 kit
are shown in Figure 4.33. The pieces shown on the left side of the figure are
primarily decorative. The pieces shown on the right side of the figure have
various purposes. The magazine is used to hold the kit’s balls for using robots
that shoot. The shooter provides a means of shooting balls. The kit includes a
total of 12 balls, colored yellow, red, blue, and green. The comb wheel connects
up to four axles. It can be used in various ways, as a stabilizer for axles or as an
 Summary 93

Figure 4.33
The Lego Mindstorms NXT 2.0 kit’s remaining pieces and parts.

attachment that extends the effects of gears. The V Belt is a small rubber band
that can be used to loosely bind pieces together.

Summary
This chapter rounded out the book’s review of the pieces and parts that make up
the Lego Mindstorms NXT 2.0 kit. It focused on all the nonelectric and
nonmechanical pieces and parts. This included learning about beams, connec-
tors, pegs, and various other parts groupings. In addition, you learned how to
work with gears and reviewed different configurations in which they might be
used to transmit motion. This chapter also demonstrated the use of many of the
pieces that were covered in order to further enhance your understanding of their
usefulness.
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 Chapter 5

Getting to Know the

NXT-G Development
Environment

Now that you know the basics of how to navigate around the Lego Mindstorms
NXT 2.0 GUI and have a basic understanding of all the different pieces and parts
supplied with the Lego Mindstorms NXT 2.0 kit, it is time to begin learning
about NXT-G programming. Using NXT-G, you will write programs that
control the operation of your robotic creations. NXT-G programs send instruc-
tions to the NXT Brick telling it how and when to operate attached servo motors
and sensors. In this chapter you will learn a number of basic programming
concepts and see how they apply to Lego Mindstorms NXT 2.0.
The major topics covered in this chapter include:
n Setting up personal profiles
n An overview of the program execution process
n An introduction to pseudocode and flowcharts
n Learning how to create new NXT-G programs
n Learning how to access programming blocks

95
96 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.1
A depiction of the key components involved in program execution.

Computer Program Development

and Execution
On their own, computers are not very smart. To do anything, they must be given
very specific instructions. These instructions are provided in the form of
computer programs. Figure 5.1 depicts the basic steps involved in the execution
of a computer program.
Once a program is loaded into a computer’s memory, the computer’s processor
processes the commands that make up the program. Programs process data
passed to them as input and, in turn, generate output. In the case of NXT-G
programs, input typically comes in the form of real-world data collected from
sensors, and output is represented by the commands that NXT-G programs tell
the NXT Brick to execute. This output might be commands telling the NXT
Brick to engage its turbo motors, or it might be commands that tell the NXT
Brick to play a sound file or display text or graphics on its LCD.
NXT-G differs from most other programming languages in that it does not
support a text-based approach to program development. For example, the
following statements are an excerpt taken from a Visual Basic application
program.
 Computer Program Development and Execution 97

//Excerpt from a Visual Basic application

If strCurrentAction = "FillCircle" Then
Dim objCoordinates As Rectangle
objCoordinates = _
New Rectangle(Math.Min(objEnd.X, objStart.X), _
Math.Min(objEnd.Y, objStart.Y), _
Math.Abs(objEnd.X - objStart.X), _
Math.Abs(objEnd.Y - objStart.Y))
Pick_Color_And_Draw("FillCircle", objCoordinates)
End If
In text-based programming languages, program statements must follow a very
specific set of syntax rules. Any failure to follow these rules results in syntax
errors that cause programs to fail with errors. NXT-G, on the other hand, is a
graphical programming language that makes use of graphical programming
blocks, each representing a different task. NXT-G programs are built by
dragging and dropping different combinations of programming blocks together
on the work area as demonstrated in Figure 5.2.
By using programming blocks in place of complex program code statements,
NXT-G simplifies program development while at the same time supporting the
use of the very same programming logic and concepts implemented in tradi-
tional text-based programming languages. For example, NXT-G supports
variables, conditional logic, and iterative programming logic. NXT-G also
supports the manipulation of graphics and sound files.

Figure 5.2
An example of how programming blocks are used in the creation of NXT-G programs.
98 Chapter 5 n Getting to Know the NXT-G Development Environment

Drafting Program Logic Using Pseudocode

Before you sit down at your computer to begin developing a NXT-G program for
the purpose of bringing one of your robotic creations to life, you need to first know
what you want to accomplish. A good way to get started is to outline your thoughts
on paper, using regular old English as demonstrated in the following example.
If the user presses the sensor button
Display a text message of "Alarm"
Play the "Alarm" sound file
If the user does not press the sensor button
Display a text message of “Try Again”
Play the "Try Again" sound file
End
This high-level outline of the programming logic is an example of pseudocode.
Pseudocode is an English-like outline of some or all of the logic involved in the
development of a computer program. When initially outlining a program using
pseudocode, your focus should be on the development of the high-level logic
required to accomplish a given task. Don’t worry at this point about specific
programming blocks or their configuration. Once complete you can use your
pseudocode as an outline when sitting down to write your NXT-G program.
In this particular pseudocode example, programming logic is outlined that
would tell the NXT Brick what to do when it checks to see if a Touch Sensor has
been pressed. The first line states the condition that is to be tested. If the
condition proves true, the two lines that follow it are executed, displaying a text
string and then playing a sound file. The fourth statement outlines the
programming logic that is executed if the sensor has not been pressed. Here,
a different text message is displayed and a different sound file is played.

Laying Out Program Logic Using Flowcharts

Another way of outlining the programming logic required to develop all or
part of a NXT-G program is to use flowcharts. Figure 5.3 shows a flowchart
that outlines the same logic that was presented in the previous pseudocode
example.
 Computer Program Development and Execution 99

Figure 5.3
A depiction of the key logic needed to perform a particular task.

Hint
A flowchart is a graphical depiction of some or all of a program’s logic. Programmers create
flowcharts in order to outline the overall logic involved in developing a computer program. Once
developed, the graphical nature of flowcharts helps make their review easy. By reviewing a
flowchart, you can verify that your approach to solving a particular programming challenge makes
sense. This gives you a chance to identify any design flaws in the logic of your program before you
invest the time and effort required to develop it.

In this flowchart example, two separate courses of action are outlined. Which
one is executed depends on whether a NXT Brick sensor button has been
pressed. If the sensor button has been pressed, the actions outlined at the top of
the flowchart are executed. Otherwise, the actions listed at the bottom of the
flowchart are executed.
Once developed, you can translate the program logic outlined in a flowchart into
NXT-G programming logic as demonstrated in Figure 5.4.
Here, a switch programming block is used to execute either of two sets of
embedded programming blocks, depending on whether the NXT Brick’s sensor
100 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.4
The implementation of the flowchart’s logic in NXT-G.

button has been pressed. If you look closely at this example, you will see how
clearly it reflects the programming logic that was outlined in the previous
pseudocode and flowchart examples.

Turning Outlines into a Functioning NXT-G Program

NXT-G programs are created on your computer using the Lego Mindstorms
NXT 2.0 GUI. Both Windows and Mac OS X are supported. Once you have
created a NXT-G program, you must download it to your NXT Brick. Once
downloaded into the NXT Brick memory, your program is converted into ARM,
allowing the NXT Bricks 32-bit ARM7 microcontroller to execute it. This
process is depicted in Figure 5.5.

Figure 5.5
A depiction of the steps involved in creating and preparing a NXT-G program for execution.
 Beginning a Program Development Session 101

Beginning a Program Development Session

NXT-G is a graphical programming language in which programs are con-
structed using programming blocks, which are dragged and dropped onto the
work area and then configured to perform specific tasks. In order to access the
work area, you must first open an existing NXT-G program or create a new
NXT-G program.
To open an existing program, you must specify the name of the program by
keying it into the Open recent program drop-down list or by selecting it from
the drop-down list as shown in Figure 5.6 and then clicking on the associated
Go>> button.

Figure 5.6
Opening an existing NXT-G program.
102 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.7
Naming a new NXT-G program.

Hint
You can also access program files for the currently selected profile by pressing CtrlþO on Windows
or Command-O on Mac OS X. In addition, you can select program files by clicking on File > Open.

To create a new NXT-G program, type a name for the program in the Create
new program field as shown in Figure 5.7 and click on the associated Go>>
button.

Hint
You can also create a new NXT-G program by pressing CtrlþN on Windows or Command-N on Mac
OS X. Alternatively, you can create a new program file by clicking on File > New.
 Beginning a Program Development Session 103

The Lego Mindstorms NXT 2.0 GUI automatically assigns the default name
Untitled-1 to your first new program. The number at the end of the new
program name is automatically incremented with each new program you create
after that. However, you can and should provide your NXT-G programs with
unique names of your own choosing, preferably assigning names that help
identify programs and describe their purpose.

Understanding Developer Profiles

The Lego Mindstorms NXT 2.0 GUI associates NXT-G program files with the
developer profile that is used to create them. When installed, Lego Mindstorms
NXT 2.0 automatically defines a single profile named Default. Unless new
profiles are created, all NXT-G programs that are created are automatically
associated with this profile, meaning that they are readily visible to each
developer who works with the computer.
When more than one developer shares a single computer, it’s a good practice to
set up a unique profile for each developer. This way, each developer will only see
the NXT-G programs that she has created. This helps prevent one developer
from accidentally opening and modifying someone else’s NXT-G program.

Hint
In addition to keeping NXT-G programs separate, developer profiles also keep other program files
separated, including things like sound and graphic files. Note, however, that developer profiles are
not a security feature. There is nothing to prevent you from selecting someone else’s profile.

Selecting a Developer Profile

To select your profile, all you have to do is click on the User Profile: drop-down
list located on the Lego Mindstorms NXT 2.0 toolbar shown in Figure 5.8 and
select it.

User Profile Drop-down List

Figure 5.8
Selecting a developer profile.
104 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.9
Managing developer profiles.

Creating a New Developer Profile

To create a new developer profile select Edit > Manage Profiles from the Lego
Mindstorms NXT 2.0 toolbar. In response, the Manage Profiles dialog is
displayed, as shown in Figure 5.9. From here you can create, delete, and rename
developer profiles.
The following procedure outlines the steps involved in creating a new developer
profile.

Step-by-Step

1. Click on the Create button. This adds a new profile with a default name of Profile_1 to
the list of developer profiles and enables the Name: field.

2. Overtype the default profile name with a unique name of your own choosing, as demon-
strated in Figure 5.10.

3. Press Enter to assign the new name to the profile.

4. Repeat the above steps to create as many profiles as needed and then click on the Close
button when done.
 Beginning a Program Development Session 105

Figure 5.10
Creating a new developer profile named Jerry Ford.

Hint
You can rename developer profiles at any time from the Manage Profiles dialog box by selecting
one and overtyping its name. You can delete them by selecting one or more from the list of profile
names and then clicking the Delete button.

Giving Yourself More Room to Work

Once you have created or opened a NXT-G program, the Lego Mindstorms
NXT 2.0 GUI displays a new tab in the work area. This tab displays the name of
the NXT-G program you have opened or created. You can simultaneously open
or create and work with as many NXT-G programs as you wish and then switch
between them by clicking on their tab at the top of the work area.
As shown in Figure 5.11, the work area is a gridded window that displays the
Starting Point and the NXT Controller. The Starting Point identifies the location
where your NXT-G program’s first programming block will go. The NXT
Controller is used to download and execute all or part of your NXT-G program
onto your NXT Brick.
106 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.11
The work area is where you will develop the programming logic for your NXT-G programs.

By allowing you to switch between NXT-G programs by clicking on their tabs,

the Lego Mindstorms NXT 2.0 GUI makes efficient use of work area space. The
work area represents a boundless space with no height or width limits. As your
NXT-G programs grow in size, they may exceed the viewable limits of the work
area, in which case the GUI automatically shifts downward or to the right as
needed to allow more room for programming blocks.
If you wish, you can increase the amount of visible space allocated to the work
area by clicking on the orange Remove button located on the far right side of the
GUI toolbar. This action hides the Robo Center, increasing the size of the work
area, as demonstrated in Figure 5.12.
 Accessing Programming Blocks 107

Figure 5.12
By closing the Robo Center you can increase your view of the work area.

You can restore the work area to its original size and redisplay the Robo Center
at any time by clicking on the Robo Center Icon (an orange 3M beam) located
on the GUI toolbar.

Accessing Programming Blocks

NXT-G programs are made up of programming blocks. Each programming
block represents a different type of action. Each programming block is config-
urable. Programming blocks have plain, easy to understand, English names and
are used to formulate the programming logic in NXT-G programs. As shown in
108 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.13
Programming blocks are accessed through one of three tabs on the Programming palette.

Figure 5.13, programming blocks are organized and presented on the three tabs
that make up the Programming palette.
The Programming palette is located on the left side of the GUI and only one of
its tabs is visible at a time. Programming blocks are added to the NXT-G
program by dragging and dropping them onto the work area. After program-
ming blocks are added to a NXT-G program, you can configure the manner in
which each programming block executes by modifying parameters that are
displayed in the Configuration Panel whenever a programming block is selected.
Each programming block is unique and therefore has different parameters,
specific to the tasks that the programming block performs.
 Accessing Programming Blocks 109

Figure 5.14
The most commonly accessed programming blocks are accessible from the Common tab.

Common Palette Programming Blocks

The programming blocks that you are likely to use most often are all located on
the Programming palette’s Common tab as shown in Figure 5.14.
As shown in Figure 5.15, there are seven programming blocks displayed on the
Common palette. These blocks and their purpose are outlined in Table 5.1.
Each entry listed in Table 5.1 corresponds to an individual programming block
except for the Wait entry. As shown in Figure 5.15, when you move the mouse
pointer over the Wait programming block icon, the Programming palette
expands to show the six most commonly used variations of this block: Time,
Touch, Light, Sound, Distance, and Sensor Color. Other variations of the Wait
110 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.15
The Common group provides access to the same programming blocks found on the Common palette.

programming block are accessible when configuring the Wait programming

block.

Complete Palette Programming Blocks

The Complete palette provides access to all programming blocks, even those
displayed on the Common tab. In total, the Complete palette provides access to
39 programming blocks, organized into 6 categories. These categories are
outlined in Table 5.2.

Common Programming Blocks

As shown in Figure 5.15, the Common group on the Complete palette contains a
list of all of the blocks found on the Common palette.
 Accessing Programming Blocks 111

Table 5.1 Common Programming Blocks

Icon Name Description

Move Moves a robotic creation forward or backward.

Record/Play Records an action manually performed with a robotic creation and

then allows that action to be replayed.
Sound Instructs the NXT Brick to play a sound file.

Display Displays text, shapes, and images on the NXT Brick’s LCD.

Wait Pauses program execution for a period of time.

Loop Repeats the execution of specified programming blocks.

Switch Choose between two alternate courses of actions based on a sensor or

input value.

Table 5.2 Complete Palette Programming Block Groups

Icon Name Description

Common Contains a list of all of the blocks found on the Common tab.

Action Contains a list of blocks that send commands to the NXT Brick in order to
execute specific actions.
Sensor Contains blocks that read sensors.

Flow Contains a list of blocks that can be used to alter the logical execution flow
of a program.
Data Contains a list of blocks that define, generate, and process program data.

Advanced Performs miscellaneous functions not associated with other block groups.
112 Chapter 5 n Getting to Know the NXT-G Development Environment

Table 5.3 Common Programming Blocks

Icon Name Description

Move Moves a robotic creation forward or backward.

Record/Play Records an action manually performed with a robotic creation and then allows
that action to be replayed.
Sound Instructs the NXT Brick to play sound files.

Display Displays text, shapes, and images on the NXT Brick’s LCD.

Wait Pauses program execution for a period of time.

Loop Repeats the execution of specified programming blocks.

Switch Chooses between two alternate courses of action based on the analysis of
sensor or input value.

These Common programming blocks are outlined in Table 5.3.

Action Programming Blocks
As shown in Figure 5.16, the Action group on the Complete palette contains a
list of blocks that send commands to the NXT Blocks in order to execute specific
actions.
These programming blocks are outlined in Table 5.4.

Sensor Programming Blocks

As shown in Figure 5.17, the Sensor Group on the Complete palette contains
programming blocks that read sensor data from robotic sensors and pass data to
other programming blocks through data wires.

Hint
Data wires are data pathways that you can draw between programming blocks in order to pass
data from one programming block to another.
 Accessing Programming Blocks 113

Figure 5.16
The Action group displays five programming blocks.

Table 5.4 Action Programming Blocks

Icon Name Description

Motor Provides precise control of a motor’s speed.

Sound Plays a sound file or a tone.

Display Displays an image, text, or shape on the NXT Brick’s LCD screen or clears
the LCD screen.
Send Message This block is used to send a wireless message to your NXT Brick via a
Bluetooth connection.
Color Lamp Controls the Color Sensor’s lamp function, emitting red, green, or blue
light.
114 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.17
The Sensor group displays nine programming blocks.

There are a total of nine Sensor programming blocks, as outlined in Table 5.5.

Flow Programming Blocks

As shown in Figure 5.18, the Flow group on the Complete palette contains a list
of blocks that can be used to alter the logical execution flow of a program.
There are a total of four Flow programming blocks, as outlined in Table 5.6.

Data Programming Blocks

As shown in Figure 5.19, the Data group on the Complete palette contains a list
of blocks that define, generate, and process program data in a variety of different
ways.
 Accessing Programming Blocks 115

Table 5.5 Sensor Programming Blocks

Icon Name Description

Touch Sensor Sends a true/false signal through a data wire based on the current
condition of a touch sensor.
Sound Sensor Detects sounds and reports on sound level.

Light Sensor Detects ambient light.

Ultrasonic Sensor Establishes a connection to another Bluetooth device.

NXT Buttons Sends true signal through a data wire whenever a NXT button is
activated.
Rotation Sensor Counts the number of degrees or the number of rotations that a motor
turns.
Timer This block reads the timer’s current value or restarts the timer.

Receive Message Enables the receipt of wireless messages.

Color Sensor Enables the detection of different colors and the measurement of light
intensity.

Data programming blocks also pass data to other programming blocks via data
wires. There are a total of seven Data programming blocks, as outlined in Table 5.7.

Advanced Programming Blocks

As shown in Figure 5.20, the Advanced group on the Complete palette contains
a list of blocks that perform functions not associated with other block groups.
There are a total of seven Advanced programming blocks, as outlined in Table 5.8.

Custom Palette Programming Blocks

The Custom tab displays programming blocks that you have custom created or
that you have downloaded from the Internet. Custom blocks are visible only on
the Custom palette. There are two categories of custom programming blocks,
My blocks and Web blocks. To display your My blocks or Web blocks, simply
116 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.18
The Flow group contains four programming blocks.

Table 5.6 Flow Programming Blocks

Icon Name Description

Wait Pauses NXT-G program execution.

Loop Repeats the execution of specified programming blocks.

Switch Chooses between two alternate courses of action based on the analysis of
sensor or input value.
Stop Halts program execution and any running motors.
 Accessing Programming Blocks 117

Figure 5.19
The Data group contains seven programming blocks.

Table 5.7 Data Programming Blocks

Icon Name Description

Logic Reviews inputs and returns a true/false value.

Math Performs arithmetic, subtraction, multiplication, and division operations.

Compare Determines if a number is greater than, less than, or equal to another

number.
Range Determines whether a number is inside a range of numbers.

Random Generates a random number.

Variable Reads or writes variable values.

Constant Returns a value stored in a constant.

118 Chapter 5 n Getting to Know the NXT-G Development Environment

Figure 5.20
The Advanced group contains seven programming blocks.

Table 5.8 Advanced Programming Blocks

Icon Name Description

Number to Text Takes a number and turns it into a displayable text string.

Text Adds text strings together in order to create a longer text string.

Keep Alive Prevents the NXT Brick from going to sleep.

File Access Saves data to files on your NXT Brick.

Calibrate Calibrates the minimum and maximum values detected by sound/light

sensors.
Reset Motor Disables the automatic error correction for servo motors.

Bluetooth Establishes a connection to connect to another Bluetooth device or

Connection disables/enables Bluetooth functionality.
 Summary 119

Table 5.9 Custom Programming Blocks

Icon Name Description

My Blocks A collection of one or more configured programming blocks that are

designed to perform a specific action.
Web Downloads A My block that someone else has created and which you have
downloaded and added to your Lego Mindstorms NXT 2.0 GUI.

click on the Programming pallete’s Custom tab and then move the mouse
pointer over their icons. Any blocks of these types are then displayed. By default,
you don’t have any My Block programming blocks. Table 5.9 provides an
overview of these blocks and their purpose.

Summary
This chapter provided you with foundational information needed to begin
programming using NXT-G. You learned about the execution of computer
programs and how NXT-G programs are developed. You were introduced to
pseudocode and flowcharts and given examples of these important program
planning and design tools. This chapter showed you how to create and switch
between different developer profiles and how to open and create NXT-G
programs. This chapter also showed where to find programming blocks and
reviewed their location on the Programming palette.
This page intentionally left blank
 Chapter 6

Basic NXT-G Programming

Concepts

In the last chapter you learned how to create and open NXT-G programs, and
you learned a lot about the various NXT-G programming blocks. Now it is time
to dig a little deeper and learn how to use sequence beams to develop NXT-G
programs that can run sequentially or that can multitask, executing multiple
tasks in parallel. You will learn how to work better in the work area, and you will
learn how to add comments to your NXT-G programs in order to document
your programming logic.
The major topics covered in this chapter include:
n A breakdown of the different parts of the programming block icons
n Getting to know a little more about the Starting Point
n Learning how to work with sequence beams
n Learning how to multitask using parallel sequence beams
n Adding additional value to your NXT-G programs using comments

Dissecting Programming Blocks

Programming blocks define different actions that you can instruct the NXT
Brick to execute. Programming blocks have attributes or modifiers that affect
their operation. These attributes are displayed in the configuration panel, as
shown in Figure 6.1, whenever a programming block is selected. By modifying

121
122 Chapter 6 n Basic NXT-G Programming Concepts

Figure 6.1
The configuration panel facilitates the customization of programming block actions.

Figure 6.2
A breakdown of the different attribute information displayed on programming blocks.

programming block attributes, you can customize the actions the programming
block performs. The configuration panel is only visible when a single program-
ming block is selected. If no programming block is selected or if more than one
programming block is selected the configuration panel turns blank.
Changes made to programming block attributes are reflected in the appearance
of the blocks. Figure 6.2 demonstrates how much attribute information you can
glean from a programming block just by looking at it.
Figure 6.2 provides a detailed example of the attribute information displayed on
a typical programming block. In the case of Figure 6.2, a Move block is shown
twice, with and without its data hub extended. A data hub is a collection of input
and output ports that programming blocks can use to receive and transmit data.
 Beginning at the Starting Point 123

You will learn all about the data hub in Chapter 8, “Advanced Programming
Techniques.”

Hint
You can use data wires, which are introduced in Chapter 8, to pass data between programming
blocks, even those located on different sequence beams.

As shown in Figure 6.2, seven distinct pieces of attribute information are visible.
Attributes vary from programming block to programming block and not all
programming blocks display the same number or type of attribute data. In the
case of the Move block shown in Figure 6.2, the block is identified by its image
icon. Its direction is set to forward, its power level is set to 75 percent, and its
unit measure is set to rotations. In addition, the block is set to control two
motors, attached to ports B and C on the NXT Brick. The circular shape and
color stripe identifies this block as being a Common programming block. If
more information is needed or if you are not sure what a given attribute symbol
means, you can either select the programming block and review its attribute data
in the configuration panel or you can look the block up in the Lego Mindstorms
NXT 2.0 help file.

Beginning at the Starting Point

All NXT-G programs begin at the Starting Point. The Starting Point is an object
located on the left side of the work area. Just to the right of the Starting Point is
the word Start, as shown in Figure 6.3, marking the point where you place a
NXT-G program’s first block. The word Start is enclosed by four brackets that
outline the shape of a programming block. Programming blocks are connected

Figure 6.3
Every NXT-G program begins at the Starting Point.
124 Chapter 6 n Basic NXT-G Programming Concepts

Excluded from
the NXT-G Program

Figure 6.4
Programming blocks not connected to a NXT-G program’s sequence beams are not saved as part of the
program file.

to the Starting Point via a sequence beam. Programming blocks are downloaded
to the NXT Brick when you download your program into it.

Trap
Any blocks that are not connected to a NXT-G program’s sequence beams, as demonstrated in
Figure 6.4, are not considered to be a part of your NXT-G program. As such, they will not be
downloaded to your NXT Brick.

To add a programming block to a NXT-G program, locate the block on the

Programming palette, click on it, and hold down the left mouse button. Drag the
left mouse button toward a sequence beam. As the programming block
approaches the sequence beam, the beam will automatically expand to make
room for the block. The location where the block will be placed is identified by
three vertical white grid squares as demonstrated in Figure 6.5.
Figure 6.6 demonstrates how the programming block snaps into place when
released on top of a sequence beam.

Hint
You can remove a programming block from a sequence beam by selecting it and then pressing the
Delete key. If you remove a programming block from a sequence beam, the beam will automati-
cally resize itself to reclaim space formerly allocated to the programming block.
 Understanding the Sequence Beam 125

Figure 6.5
The work area displays three vertical white grid squares at the location where the programming block
will be positioned.

Figure 6.6
Programming blocks automatically snap into place when dropped on a sequence beam.

Understanding the Sequence Beam

The sequence beam’s purpose is to manage the order, or flow, in which
programming blocks execute in NXT-G programs. To add additional program-
ming blocks to a NXT-G program, you must add them to the sequence beam.
Programming blocks are executed in the order, or sequence, in which they are
placed on sequence beams.
By default, the sequence beam automatically expands to make room for a new
programming block when you drag the block near the beam. This is true
whether you drag a programming block to the end, the middle, or the beginning
of the sequence beam. Other programming blocks are automatically reposi-
tioned as necessary to make room for a new programming block added to the
beginning or middle of the sequence beam.
126 Chapter 6 n Basic NXT-G Programming Concepts

Figure 6.7
When the mouse pointer turns into a pair of arrow-tipped brackets, you can manually adjust a sequence
beam’s length.

Figure 6.8
An example of a sequence beam that has been manually extended.

If you prefer, you can manually increase the length of sequence beams. To do so,
move the mouse pointer over the end of a sequence beam and left click on it. In
response, the mouse pointer will turn into a pair of arrow-tipped brackets, as
demonstrated in Figure 6.7. Next, drag the mouse pointer outward as you
continue to hold down the mouse button. Once you have the sequence beam’s
length the way you want it, double click on it to lock it in place.
Figure 6.8 shows an example in which a sequence beam has been manually
extended several inches.
If you single click as you draw, you can pin the sequence beam to that location
on the work area and then continue to draw it in a different direction. You can
continue to draw the sequence beam in various directions using this approach.
 Understanding the Sequence Beam 127

Figure 6.9
An example of a sequence beam that has been manually extended in different directions.

Figure 6.10
An example of an extended beam populated with programming blocks.

When finally done, double click on the new end of the sequence beam to lock it
into position, as demonstrated in Figure 6.9.
Once you are done extending a sequence beam, you can go back and add
programming blocks to it as needed to develop your NXT-G programs, as
shown in Figure 6.10.
128 Chapter 6 n Basic NXT-G Programming Concepts

Multitasking Using Parallel Sequence Beams

Sometimes executing NXT-G programs one programming block at a time along
a single sequence beam is all a robotic creation requires. However, often you
need to create programs that enable your creations to multitask, executing two
or more actions at the same time. For example, you might want to create a
program that will allow a robot to walk and make use of a robotic arm at the
same time. NXT-G programs support multitasking using parallel sequence
beams.
If you look closely at the Starting Point, you will see that it presents three parallel
sequence beams; the one pointing to the right is the one you have seen in use up
to this point in the book. The other two sequence beams point up and down.
You can use the upper or lower sequence beam to set up parallel processes
within your NXT-G programs by moving the mouse pointer over one of these
two sequence beams and, while pressing and holding down the left mouse
button, move the mouse pointer up or down. Note that when you click on the
upper or lower sequence beam, the mouse pointer turns into a reel, as shown in
Figure 6.11, to indicate that you can resize the sequence beam.
Once the mouse pointer turns into a reel, you can change a sequence beam’s
length. Figure 6.12 shows an example where the lower sequence beam has been
pulled downward, pinned, pulled to the right, and then pinned again.
Figure 6.13 shows the same NXT-G program once program blocks have been
added to the second sequence beam.

Reel

Figure 6.11
The mouse pointer has turned into a reel indicating that you can now grab the sequence beam and
resize it.
 Multitasking Using Parallel Sequence Beams 129

Figure 6.12
An example of a NXT-G program under development that has two sequence beams.

Figure 6.13
This NXT-G program performs two separate sets of actions in parallel within one another.
130 Chapter 6 n Basic NXT-G Programming Concepts

Figure 6.14
This NXT-G program performs three sets of parallel actions.

By expanding and adding programming blocks to the upper sequence beam, you
can add a third set of actions that will operate in parallel with the first two sets of
actions, as demonstrated in Figure 6.14.
In addition to the parallel sequence beams already available at the Starting Point,
you can add new parallel sequence beams at other points along existing sequence
beams within your program. This is accomplished by placing the mouse pointer
over an open portion of the sequence beam where you want to add a parallel
sequence beam and then holding down the Shift key while you move the mouse
pointer to draw and expand a new beam originating from the existing beam, as
demonstrated in Figure 6.15.
 Moving Programming Blocks Around Your NXT-G Programs 131

Figure 6.15
In this example, two new sequence beams have been added to the NXT-G program.

Figure 6.16 shows how the NXT-G program shown in Figure 6.15 might look
once the program blocks have been added to the new sequence beams.

Moving Programming Blocks Around Your

NXT-G Programs
If you need to move a programming block from one location to another within a
NXT-G program, click on the block to select it. When you do this, the block is
highlighted and surrounded by a blue square, as shown in Figure 6.17.
132 Chapter 6 n Basic NXT-G Programming Concepts

Figure 6.16
An example of a NXT-G program whose programming logic is outlined using five sequence beams.

Once it is selected, left click on the programming block and, while continuing to
hold down the left mouse button, drag the programming block to its new
location.

Trap
In order to drag and drop a programming block from one location to another, the mouse pointer
must be set to the Pointer Tool. As shown in Figure 6.18, the Pointer Tool makes the cursor look
like a pointer arrow, which is the default setting for the mouse pointer.

If you need to move more than one contiguous programming block, you can
drag and drop them all at once by clicking on the work area and then drawing a
blue square around the entire block as demonstrated in Figure 6.19.
 Moving Programming Blocks Around Your NXT-G Programs 133

Figure 6.17
The highlighted programming block is the currently selected block.

Figure 6.18
The Pointer Tool is selected by default each time you start a new programming project.

Once selected, you can drag and drop the selected programming blocks to their
new location by left clicking on one of the blocks, and then holding down the left
mouse button while moving them to their new location.

Trick
You can also select multiple programming blocks by selecting the first block and then, while
holding down the Shift key, selecting additional programming blocks.
134 Chapter 6 n Basic NXT-G Programming Concepts

Figure 6.19
An example of a NXT-G program in which two program blocks have been selected.

Trap
If you make any mistakes when moving programming blocks, you can use the toolbar’s Undo and
Redo commands to put things back to a prior state. You can also use the Cut, Copy, and Paste
commands to make copies of programming blocks.

Getting Control of the Work Area

Sometime when working on a lengthy NXT-G program you may need to
reposition the work area in order to bring the portion of the program you want
to work on into view. One option is to use the work area map to move around
your program, as was discussed in Chapter 2, “Getting Started.” Another option
is to use the Pan Tool located in the toolbar, as shown in Figure 6.20.
 Improving NXT-G Programs Using Comments 135

Figure 6.20
Using the Pan Tool to drag a new portion of the work area into view.

Once you have selected the Pan Tool, you can use the cursor to click on an open
area of the work area and then drag that location to a new position on the
screen.

Improving NXT-G Programs Using Comments

Although working with graphical programming blocks makes programming in
NXT-G easier than working with most other programming languages, NXT-G
programs can still grow to be very large and complex. The larger and more
complex a program gets, the more difficult it is to understand. This makes
program maintenance difficult.
As time goes by, it is easy to forget why a given program was designed the way it
was. The solution to this dilemma is to add plenty of comments to your NXT-G
programs. Comments help explain the logic that is being implemented in your
program. This makes the program easier to understand and support, both for
you and for anyone else that you share your NXT-G programs with.
Comments give you the opportunity to document what you are doing and why.
Use comments to explain the logic behind particularly complicated pieces of
programming logic. You’ll appreciate the bread crumbs you leave behind should
you ever need to return to the NXT-G program to modify it. Comments can also
be used to document assumptions that have been made and the intended output
and results of your NXT-G program.

Adding Comments to Your NXT-G Programs

To add a comment to your NXT-G program, click on the Comment Tool button
located on the toolbar. This button is shaped like a callout balloon as shown in
Figure 6.21.
136 Chapter 6 n Basic NXT-G Programming Concepts

Figure 6.21
You must click on the Comment Tool in order to add a comment to your NXT-G program.

Once you have selected the Comment Tool button, all you have to do to add a
comment to a NXT-G program is click on an open portion of the work area. A
white box will appear into which you can begin typing. This space will
automatically resize itself to accommodate as much text as you enter. If you
press Enter when typing in text, a carriage return is executed, allowing you to
continue typing in a new line.
Trick
Once written, you can modify a comment by selecting it, positioning the cursor at the desired
location within the comment, and entering your new text.
You can move comments around the work area if you need to by clicking on the Pointer icon in the
toolbar and then selecting a comment. When you do this, the comment is enclosed within a blue
square. You can drag and drop the comment to a new location on the work area by placing the
mouse pointer over a portion of the outlying blue square and holding down the left mouse button
to grab onto it.
Comments can be deleted by selecting them and pressing the Delete key.

Figure 6.22 shows an example of a NXT-G program with three programming

blocks and corresponding comments. Each comment provides a detailed
explanation of the action that the blocks are configured to perform.

Figure 6.22
An example of a NXT-G program that contains comments describing each programming block’s
configuration and purpose.
 Summary 137

Figure 6.23
Adding a high-level comment to a NXT-G program.

Trick
You can also add a comment by double clicking on a free spot in the work area and then typing in
comment text.

You can provide more high-level comprehensive documentation for your NXT-
G program by clicking on the Mindstorms icon located on the Starting Point.
This displays a scrolling text box labeled Info: at the bottom of the Lego
Mindstorms NXT 2.0 GUI (in the location where the configuration panel is
displayed) as demonstrated in Figure 6.23.
A good way to make use of the Info: text box is to use it to document your
program’s name, purpose, creation date, and last update. This way anyone,
including yourself, who comes back later and looks at this documentation, can
immediately assess the program’s purpose, author, and other useful information.

Summary
This chapter showed you how NXT-G reflects programming block configuration
through the display of graphic images on the programming block’s icon. You
learned more about the Starting Point as well as how to work with sequence
beams. This included how to develop multitasking programs using parallel
sequence beams. You also learned the importance of documenting your NXT-G
programs through the addition of comments.
This page intentionally left blank
 Chapter 7

Working with the Common

Programming Blocks

The seven programming blocks located on the Common palette are the most
commonly used programming blocks. A good understanding of how to work
with these blocks is essential to your success as a Lego Robotics developer. In
this chapter you will review all of the major features and capabilities of these
blocks. This will include learning how to work with and configure programming
block attributes.
The major topics covered in this chapter include learning how to:
n Move your robots
n Record and play back motor movement
n Play sounds and display graphics on the NXT Brick’s LCD
n Pause execution and retrieve sensor data
n Control logic flow using loops and conditional logic

A Detailed Review of the Common Blocks

The NXT-G programming language consists of dozens of different types of
blocks, each of which is designed to perform a different action. Each of these
blocks is customizable, allowing you to configure many different details of block
executions. Of all the programming blocks, the blocks on the Common palette

139
140 Chapter 7 n Working with the Common Programming Blocks

are by far the most commonly used and therefore merit additional attention.
Common programming blocks include all of the following:
n Move
n Record/Play
n Sound
n Display
n Wait
n Loop
n Switch
Together these programming blocks provide the foundational programming
logic needed to develop basic NXT-G programs for all types of robotic creations.

The Move Block

The first of the seven sets of programming blocks located on the Common
palette is the Move block. The Move block controls the forward and reverse
movement of servo motors. The Move block is used to steer robots in straight
lines or to move them along a curve.
As shown in Figure 7.1, the icon representing the Move block contains a number
of graphic symbols that indicate how some of the block’s attributes have been
configured.
Figure 7.2 shows the configuration panel for the Move block. As you can see, it
includes all of the configuration attributes shown in Figure 7.1, plus several
others.

Ports

Direction Duration

Power
Figure 7.1
The Move block displays four graphic symbols indicating its configuration.
 The Move Block 141

Figure 7.2
The Move block’s configuration panel.

Hint
Note that on the far left side of the Move block’s configuration panel are feedback boxes. These
boxes display data reflecting the movement of servo motors connected to each of NXT Brick’s ports.
Data is displayed in degrees. To work, you must have at least one servo motor connected to your
NXT Brick, and the NXT Brick must be powered on and connected to your computer.
The values shown in each of the three display fields increment or decrement based on whether the
servo motors are moved forward or backward. Data is displayed in feedback boxes even if you
manually manipulate servo motor movement. By manually moving your robot a predefined
distance, for example, and observing the resulting data, you can collect the data needed to
precisely configure the duration attribute.
You can reset the value shown in the feedback boxes to zero at any time by clicking on the R
button located above the port letter labels.

The Port Attribute

The Port attribute is specified as three check boxes, representing each of the
NXT Brick’s three servo motor ports (A, B, and C). Ports B and C are selected by
default. You can change port settings as needed. You should select a single port
in situations where you only need to control one servo motor and that motor is
not responsible for moving the robot. This way the block’s steering features are
not enabled.
You should select two motors for robots that move. Doing so automatically
synchronizes the two motors, so that they will move at the exact same speed.
Selecting two ports also enables the Steering attribute. If you select all three
ports, ports B and C are automatically synchronized.
142 Chapter 7 n Working with the Common Programming Blocks

Trap
If you configure two ports but only attach one servo motor to your robotic creation, the Move block
won’t work. This is because the block is unable to synchronize the two motors.

If you select all three ports, ports B and C are automatically synchronized, and
the servo motor attached to port A must be controlled via another programming
block. With this configuration, you must ensure that the servo motors respon-
sible for movement are attached to ports B and C, because the default port
assignments cannot be changed.
The Direction Attribute
Direction specifies the direction the robot will move and is configured as
forward (default), backward, or stop. Specifying stop resets all configured
motors. You may have to reverse the direction setting depending on how you
have designed your robot and attached its servo motors. Figure 7.3 depicts the
direction that servo motors spin when moving forward and backward.
The Steering Attribute
The Steering attribute is enabled only when two ports are selected. Using the two
drop-down selection boxes, you can specify to which side of your robot the two
turbo motors are attached. By default, the two motors are configured to move at
the same speed, causing the robot to move in a straight line. By adjusting the
slider bar, you can make your robot veer to the left or right at various angles.

Figure 7.3
A depiction of forward and backward servo motor movement.
 The Record/Play Block 143

The Power Attribute

The Power attribute specifies the power level applied to the servo motors. A
range of 0 (no power) to 100 (maximum power) is supported. You can specify
the power level either by using the slider control or by typing a numeric value in
the text field control. The default power setting is 75.
The Duration Attribute
Duration is specified by first selecting the unit of measure that will be used to
control turbo motor movement. Available choices are: unlimited, degrees,
rotations (default), and seconds. Unlimited makes the motor(s) run forever.
360 degrees equals one rotation. Seconds specify how long the motors should
spin. Once the unit of measure has been specified, choose a numeric value
representing how many times the specified unit of measure occurs.
The Next Action Attribute
The Next Action attribute specifies what happens when the robot finishes
moving. Two options are available. Selecting Brake instructs the NXT Brick to
apply power as necessary to halt the robot immediately. Selecting Coast simply
cuts off power to the motor(s) allowing the robot to coast to a stop.

The Record/Play Block

The second of the seven sets of programming blocks located on the Common
palette is the Record/Play block. The Record/Play block is used to record and
play back recorded servo motor movement. As shown in Figure 7.4, the icon
representing the Record/Play block contains a single graphic symbol that
indicates whether it is configured to record or play servo motor movement.
Figure 7.5 shows the configuration panel for the Move block. As you can see, it
includes all of the configuration attributes shown in Figure 7.4, plus several
others.

Action

Figure 7.4
The Record/Play block displays a single graphic symbol indicating whether it is currently recording or
playing back a recorded action.
144 Chapter 7 n Working with the Common Programming Blocks

Figure 7.5
The Record/Play block’s configuration panel.

Figure 7.6
The Sound block displays several graphic symbols indicating how the programming block has been
configured.

The Action Attribute

The Action attribute specifies whether the programming block is set to record or
play back motor movements. These two mutually exclusive choices are Record
(default) and Play. They are selected via radio button.
The Name Attribute
The Name attribute specifies the name of the file in which recorded movement is
to be stored or the name of a file in which already recorded movement has been
saved. As shown in Figure 7.5, the default file name is RobotAction, but you may
change it to anything you wish.
The Recording Attribute
The Recording attribute is enabled only when the Record/Play block’s action is
set to Record. The Recording attribute is used to specify the output ports that are
to be recorded. Ports B and C are recorded by default. Selections are made via
check boxes.
The Time Attribute
The Time attribute is enabled only when the Record/Play block’s action is set to
Record. The Time attribute specifies how many seconds of recording should
 The Sound Block 145

occur. By default it is set to 30 seconds. Valid entries range from 0 to 2,147,483.

You can specify a value either by typing a number into the Time: file or by
scrolling up or down using the up and down buttons.
The File Attribute
The File attribute is displayed only when the Record/Play block’s action is set to
Play. It is enabled only if your NXT Brick is powered on and connected to your
computer. It displays a list of previously recorded motor movement files
currently stored on the NXT Brick, allowing you to select the movement file
that should be played back when the programming block is executed.

The Sound Block

The third of the seven sets of programming blocks located on the Common
palette is the Sound block. The Sound block is used to play a sound file or to play
a musical tone (note). As shown in Figure 7.6, the icon representing the Sound
block contains three graphic symbols that indicate some of its configuration
settings.
The Sound block’s attribute data varies slightly depending on whether the block
is configured to play a sound file or tone. Figure 7.7 shows how the config-
uration panel looks when the Sound block has been configured to play a sound
file.
Figure 7.8 shows how the configuration panel looks when the Sound block has
been configured to play a note.
Sound files are relatively large files. If your applications play a lot of sounds, you
can quickly fill up the NXT Brick’s memory. Musical tones, on the other hand,
are relatively small and consume a lot less memory. If all your application

Figure 7.7
The Sound block’s configuration panel as it appears when configured to play a sound file.
146 Chapter 7 n Working with the Common Programming Blocks

Figure 7.8
The Sound block’s configuration panel as it appears when configured to play a note.

requires is to make a simple sound, playing a tone is the more economical

option.
The Action Attribute
The Action attribute is used to specify whether the Sound block plays a sound
file (default) or tone. Its value is set via radio button and its assignment
determines whether the File or Note attribute is displayed.
The Control Attribute
The Control attribute is used to specify whether the Sound block plays or halts
the play of a sound file or tone that may already be in the process of being played
by another Sound block.
The Volume Attribute
The Volume attribute determines the volume at which sound files or tones are
played. The Volume attribute supports a range of 0 (no volume) to 100
(maximum value) and is expressed as a percentage. The Volume attribute’s
default setting is 75. Volume can be adjusted by either typing a numeric value in
the entry field or by moving the slider bar to the left or right.
The Function Attribute
The Function attribute determines whether the sound file or tone is repeatedly
played. By default, the Repeat check box is disabled. As a result, the sound file or
tone is played only once. When enabled, the Wait attribute is disabled.
Otherwise, the Wait attribute remains enabled.
The File Attribute
When the Sound block is configured to play a sound file, the File attribute is
enabled, allowing you to select a sound file from the list of sound files that are
 The Display Block 147

Figure 7.9
An example of a short piece of music consisting of seven notes.

displayed. When you select a file, the file is immediately played on your
computer, so you can hear what it sounds like.
The Wait Attribute
The Wait attribute is used to instruct NXT-G to wait until the Sound block has
finishing playing before allowing the next block on the sequence beam to
execute. This attribute is enabled by default.
The Note Attribute
The Note attribute is accessible only when the Sound block is used to play a
tone. As shown in Figure 7.8, a graphical keyboard is displayed in the
configuration panel. You can specify the note to be played by using the
mouse pointer to click on a keyboard key. A letter representing the selected
key is then displayed above the keyboard. To the right of the letter is a field in
which you can type a number specifying the number of seconds that the tone
should be played.
If you string a number of Sound blocks together on a sequence beam, you can
play music. Figure 7.9 shows an example of how this might look.

The Display Block

The fourth of the seven sets of programming blocks located on the Common
palette is the Display block. The Display block is used to display a graphic, text,
or shape on the NXT Brick’s LCD. Alternatively, this block can also be used to
reset the LCD display, displaying the standard NXT menus.
As shown in Figure 7.10, the icon representing the Display block contains one
graphic symbol that indicates the type of resource being displayed.
148 Chapter 7 n Working with the Common Programming Blocks

Figure 7.10
The Display block displays a single graphic symbol indicating the type of resource that it will display
when executed.

Figure 7.11
A depiction of the system of coordinates used when drawing on the NXT Brick LCD.

Images, text, and shapes are drawn on the NXT Brick LCD using a coordinate
system. This system originates from coordinates 0, 0, located in the lower left
corner of the display. The Y (vertical) coordinate stretches upward and the X
(horizontal) coordinate stretches to the right. Because the LCD is 64 pixels high
by 100 pixels wide, the maximum length along the Y coordinate is 64, and the
maximum length of the X coordinate is 100. Coordinates 32, 50 specify the
center position of the LCD. Figure 7.11 depicts this coordinates system.
Figure 7.12 shows how the configuration panel looks when the Display block is
configured to display an image.
Sound files are relatively large files. If your applications play a lot of sounds, you
can quickly fill up the NXT Brick’s memory. Musical tones, on the other hand,
are relatively small and consume a lot less memory. If all your application
requires is to make a simple sound, playing a tone is the more efficient option.
 The Display Block 149

Figure 7.12
The Display block’s configuration panel as it appears when configured to display an image.

The Action Attribute

The Action attribute specifies whether the block will be used to draw an image,
text, or shape on the LCD or whether the LCD screen will be reset, displaying
the NXT Brick’s menu system.
The Display Attribute
The Display attribute is used to specify whether the Display block clears the
LCD area prior to drawing.

Hint
If you do not clear the LCD prior to a drawing operation, you can layer one drawing on top of
another, resulting in more complex output, displaying shapes, images, and text at the same time.

The File Attribute

The File attribute is only available when the Display block is used to draw an
image. It allows you to select a graphic file containing the image you wish to
display.
The Text Attribute
The Text attribute is only available when the Display block is used to write text
on the LCD. It allows you to type in the text that you wish to display.
The Type Attribute
The Type attribute is only available when the Display block is used to draw a
shape. It allows you to specify the type of shape to draw: Point (default), Line,
and Circle.
150 Chapter 7 n Working with the Common Programming Blocks

The Position Attribute

The composition of this attribute varies depending on what is being drawn. If an
image is being drawn, a preview of the image is displayed. You can change the
location on the LCD where the image is displayed by modifying the X and Y
coordinates in the provided entry fields.
If text is being written on the LCD, a preview of the text is displayed. You can
change the location where the text is written on the LCD by modifying the X and
Y coordinates in the provided entry fields. Alternately, you can specify the line
number on which you want the text written. The LCD is capable of displaying
up to eight lines of text.
If a shape is being drawn, a preview of the shape is displayed. You can change
the location on the LCD where the shape is drawn by modifying the X and Y
coordinates in the provided entry fields.

The Wait Block

The fifth of the seven sets of programming blocks located on the Common
palette is the Wait block. The Wait block is used to either delay execution of
programming blocks on sequence beams for a predetermined period of time or
to prevent program block execution until data supplied by a sensor satisfies a
predetermined condition. There are a total of 12 variations of Wait blocks,
which are organized into two categories: Time and Sensor. Six of these are
directly accessible from the Common palette. The rest are accessible from within
the Wait block’s configuration panel.
Figure 7.13 shows what the icons for all 12 variations of the Wait block look like.
As you can see, each variation of the Wait block is clearly identified by a
different graphic image located in the upper left side of the icon. In addition, the
number of graphic configuration symbols displayed on these blocks varies from
block to block.
The Wait block’s attribute data varies depending on whether it is configured for
Time or Sensor. In addition, there are differences in attribute data between
different types of sensor configurations. Because there are so many different
variations, only two are covered here, the Time and Touch Sensor Wait blocks.
A review of these two variations of the Wait block will provide you with a good
 The Wait Block 151

Figure 7.13
The Wait block comes in many different forms.

Figure 7.14
The Wait block’s configuration panel as it appears when configured to pause execution a predetermined
period of time.

feel for how the other variations work. For additional detail on how to work with
all of the various Wait block options, consult the Lego Mindstorms NXT 2.0
Help file.

Configuring the Wait Block to Pause Execution

Figure 7.14 shows how the configuration panel looks when the Wait block has
been configured to delay execution for a predetermined period of time.
In this configuration, the Wait block displays the following attributes.
152 Chapter 7 n Working with the Common Programming Blocks

The Control Attribute

When you wish to pause the execution flow along a sequence beam, you must
set the Control attribute to Time by selecting that entry from the drop-down list
control.
The Until Attribute
The Until attribute specifies the amount of time (in seconds) that execution
should be paused on the sequence beam where the Wait block has been placed.

Configuring the Wait Block to Conditionally Pause an

Execution Based on Sensor Data
Figure 7.15 shows how the configuration panel looks when the Wait block has
been configured to conditional delay execution based on Touch Sensor input
data.
In this configuration, the Wait block displays the following four attributes.
The Control Attribute
When you wish to use sensor data to control whether or not execution flow is
paused along a sequence beam, you must set the Control attribute to Sensor by
selecting that entry from the drop-down list control.
The Sensor Attribute
When configuring the Wait block to use sensor block data, you must specify the
source of that data by selecting the appropriate sensor from the drop-down list
control. When configuring the Wait block to work with the Touch sensor, this
means selecting the Touch Sensor entry.

Figure 7.15
The Wait block’s configuration panel as it appears when configured to pause execution depending on
sensor input data.
 The Loop Block 153

Figure 7.16
In this NXT-G program, execution is delayed until the Touch Sensor is pressed on the robot.

The Port Attribute

In order for the Wait block to retrieve sensor data, it must know which NXT
Brick port the sensor has been attached to. This is specified by selecting the
corresponding Port attribute radio button control.
The Action Attribute
The Action attribute is used to specify which of three possible sensor states will
trigger the Wait block to pause execution along the sequence beam on which it
has been placed. These three states include:
n Pressed
n Released
n Bumped
An example of how to work with the Touch Sensor is provided in Figure 7.16.
Here, the first block on the sequence beam is a Wait block configured to wait
until the touch sensor has been pressed before allowing the remaining Sound
block to execute.

The Loop Block

The sixth of the seven sets of programming blocks located on the Common
palette is the Loop block. The Loop block is a flow control block. It operates by
repeating the execution of one or more embedded programming blocks. The
Loop block continuously repeats execution of embedded programming blocks
until a predefined condition is met.
154 Chapter 7 n Working with the Common Programming Blocks

Figure 7.17
The Loop block is configured by default to repeat its execution forever.

Figure 7.17 shows how the Loop block looks when initially added to a NXT-G
program. By default, the Loop block is configured to repeat forever in an endless
loop, as indicated by the display of the infinity symbol on the lower right side of
the block.

Trap
An endless loop is a loop that does not have a predefined means of terminating its own execution.

The Loop block can be configured to set up five different types of loops,
including:
n Forever—Executes forever.
n Sensor—Executes repeatedly until a given sensor value is received.
n Time—Executes repeatedly for a predetermined number of seconds.
n Count—Executes a specific number of times.
n Logic—Executes repeatedly until a logical value of True or False is
received from another programming block via a data wire.
Figure 7.18 demonstrates how the Loop block looks when configured to respond
to touch sensor input. Specifically, the Loop block repeats its execution until the
touch sensor’s button is pressed.
Figure 7.19 shows how the configuration panel looks when the Loop block is
configured to look for touch sensor input.
The Loop block has five different attributes. These attributes vary depending on
the type of loop that has been specified. The configuration panel also displays a
 The Loop Block 155

Figure 7.18
This Loop block has been configured to execute until a touch sensor button is pressed.

Figure 7.19
The Loop block’s configuration panel as it appears when configured to look for touch sensor input.

feedback box for the Loop block, which displays a number representing the
number of times the loop has repeated its execution.
The Control Attribute
The Control attribute is used to specify the type of loop that is to be set up
(Forever, Sensor, Time, Count, or Logic).
The Sensor Attribute
The Sensor attribute is available only when the Control attribute is set to Sensor.
It contains a drop-down list of 11 options, each of which specifies a different
type of sensor input. In the case of Figure 7.19, the sensor block has been
specified.
The Show Attribute
The Show attribute determines whether or not an output data plug is included as
part of the Loop block, allowing the block to pass a number representing the
number of times the loop has repeated to another programming block as input.
156 Chapter 7 n Working with the Common Programming Blocks

Figure 7.20
An example of a NXT-G program made of eight programming blocks.

The Port Attribute

The Port attribute is available only when the Control attribute is set to Sensor. It
is used to identify which port the specified sensor is connected to (1, 2, 3, or 4).
The Action Attribute
The Action attribute is available only when the Control attribute is set to Sensor.
Its contents vary depending on which type of sensor the block is configured to
work with. In the case of the Touch sensor, you must select from three options
(Pressed, Released, and Bumped) in order to specify the condition that will
terminate the loop’s execution.

A Quick Loop Demonstration

As a demonstration of how loops can be used to streamline NXT-G programs,
take a look at the NXT-G program shown in Figure 7.20. Here, the first
programming block moves the robot forward, and the second programming
blocks moves it a quarter turn to the right. The next two blocks move the robot
forward and then to the right again. In like fashion, the next four programming
blocks move the robot forward and then to the right. By the time the program
has completed, the robot will have moved in a complete square.
A more efficient means of achieving the same results as the NXT-G program
shown in Figure 7.20 is to instead use a Loop block as demonstrated in Figure 7.21.
Here, only three programming blocks are required to achieve the same result.

The Switch Block

The last of the seven sets of programming blocks located on the Common
palette is the Switch block. The Switch block is a flow control block. It is used to
 The Switch Block 157

Figure 7.21
An example of a NXT-G program consisting of two programming blocks embedded within a Loop block.

Top Condition
Port Number

Sensor Type

Tested Condition
Bottom Condition

Figure 7.22
The Switch block is configured by default to analyze touch sensor input.

provide NXT-G programs with the ability to select from two sets of paths based
on the evaluation of a specified condition.
The Switch block is highly configurable. Figure 7.22 shows how the Switch block
looks when initially added to a NXT-G program. By default, the Switch block is
configured to evaluate data collected from a touch sensor block.
Figure 7.23 shows the attributes supported by the Switch block when configured
to work with a touch sensor. Switch block attributes may vary for other sensors.

Hint
For a detailed review of all the Switch block’s attributes, refer to the Lego Mindstorms NXT 2.0 Help
file.
158 Chapter 7 n Working with the Common Programming Blocks

Figure 7.23
An example of the attributes belonging to the Switch block.

The Control Attribute

The Control attribute specifies whether the Switch block tests for an input value
or sensor input.
The Sensor Attribute
When the Control attribute is set to Sensor, the Sensor attribute is used to
specify which type of sensor the block should work with.
The Display Attribute
The Display attribute controls the appearance of the Switch block. Figure 7.22
demonstrates how the block looks in its default format. As you can see, two
sequence beams are visible showing the two paths the Switch block may execute.
When the Flat view checkbox control in the Display section of the configuration
panel is enabled, the Switch block’s appearance changes, showing only one
sequence beam at a time, as demonstrated in Figure 7.24. Tabs representing the
upper and lower sequence bars control which sequence beam is visible. By
default the upper sequence beam is displayed.

Hint
If configured to work with a value instead of a sensor, the Switch block can test for Logic, Number,
and Test data passed to the block via data wires. If the data to be tested is a number or text, the
Switch block can have more than two sequence beams/tabs.

The Port Attribute

The Port attribute specifies which port on the NXT Brick the sensor is connected
to.
 Summary 159

Figure 7.24
A comparison of the regular and flat views of the Switch block.

The Action Attribute

The Action attribute specifies the condition that is to be tested. In the case of the
Switch block, the possible conditions are Pressed, Released, or Bumped.

Summary
This chapter provided you with an in-depth review of all of the programming
blocks located on the Common palette (Move, Record/Play, Sound, Display,
Wait, Loop, and Switch). This included learning how to configure these
programming blocks and reviewing their major attributes. An understanding
of these programming blocks will enable you to develop NXT-G programs that
make robots move, play sounds, display text and graphics on the NXT Brick
LCD, collect sensor data, and use that data to control robot actions and
behavior.
This page intentionally left blank
 Chapter 8

Advanced Programming
Techniques

In this chapter you will learn advanced NXT-G programming principles. This
includes learning more about Action, Sensor, Flow, and Data blocks. You will
also learn how to create your own custom blocks. You will learn how to transmit
data between programming blocks using data wires. By the time you have
completed this chapter, you will have the foundational programming knowledge
required to begin developing the NXT-G programs for the robots that you will
learn how to build in Chapters 9 through 11.
The major topics covered in this chapter include:
n Learning how to work with data hubs and data wires
n Learning more about programming blocks that pass data through data
wires
n Learning how to create custom functions by building My Blocks
n Tips for tracking program execution and locating and fixing errors

Passing Data Between Blocks Using Data

Wires
Using the programming blocks and programming techniques discussed to this
point in the book, you have the knowledge required to program simple robots
that can move about and make sounds and display LCD text. However, to create

161
162 Chapter 8 n Advanced Programming Techniques

robots that can perform specific tasks, interact with their environment, and
adjust their operation, you need to learn how to work with data hubs and data
wires, using them to pass data between programming blocks. This data can then
be analyzed, incorporated into your NXT-G programs, and used to create vastly
more complex NXT-G programs and thus more intelligent and capable robots.
With one exception, the Wait programming block, all NXT-G programming
blocks are able to communicate and pass data among one another using data
wires. Many programming blocks only work properly when you pass data to
them through data wires.

Interacting with Data Hubs

A data hub is a projection that slides down from the bottom left of a
programming block. Some programming blocks automatically display their
data hub when added to a NXT-G program, but most blocks keep it hidden
by default. To access a programming block’s data hub, click on the small tab
indentation located at the bottom left edge of the programming block, as
demonstrated in Figure 8.1. To hide a data hub, click on the tab located at
the bottom of the programming block again.
As shown in Figure 8.1, the data hub contains one or more data plugs. There are
two types of data plugs, input and output. Input data plugs are located on the left

Input Data
Output Data
Plugs
Plugs

Data Hub
Figure 8.1
An example of a Math programming block with its data hub hidden and with it displayed.
 Passing Data Between Blocks Using Data Wires 163

side of the data hub and are used to accept data passed to the programming
blocks. Output data plugs are located on the right side of the data hub and are
used to pass data to other programming blocks.

Connecting Programming Blocks with Data Wires

Data is passed between programming block data hubs by way of data wires. As
demonstrated in Figure 8.2, a data wire is a connection between one block’s
output data plug and another block’s input data plug. To draw a data wire from
one block to another, move the mouse pointer over the output plug for the block
that is to pass the data, making sure that you select the plug associated with the
type of data you wish to pass. The mouse pointer will turn into a reel. Left click
on the plug to begin drawing the data wire, drag the mouse pointer over to the
appropriate input data plug on the other programming block and then release
the mouse button.

Hint
To remove a data wire, all you have to do is click on it and press the Delete key.

Figure 8.2
An example of two programming blocks connected via a data wire.
164 Chapter 8 n Advanced Programming Techniques

Here, logic (True/False) data from a Touch sensor block is passed to a Display
block. If a value of True is passed to the Display block, the Display block will
clear the NXT Brick’s LCD screen. If a value of False is passed to the Display
block, the LCD is not cleared.
Different blocks have different numbers of input and output plugs. If you look
closely at Figure 8.2, you will notice that there are different graphic symbol labels
displayed for each data plug. These symbols provide a visual description of the
type of data that the plug is able to work with. In order to create valid
connections between different programming blocks, the data wires that connect
them must be connected to compatible data plugs. In the case of the example
shown in Figure 8.2, the data wire is connected to data plugs that work with
logic data on both blocks.

Trick
If you click on a data hubs tab after setting data connections, the data hub is automatically resized
so that only the data plugs in use remain displayed as demonstrated in Figure 8.3.
The first two programming blocks show a data wire connected between two data plugs. The
second two programming blocks show the same two data plugs after the data hub in the second
block has been resized.

Figure 8.3
An example programming block with its data hub in expanded and collapsed states.
 Passing Data Between Blocks Using Data Wires 165

Determining Data Plug Type and Compatibility

In order to create a valid data wire connection between two programming
blocks, you must draw a data wire from one block’s output plug to the other
block’s input plug. The two plugs must both support the same data type. Data
types include numbers, text, and logic data. To assist you in identifying different
types of connections, data wires are color coded, according to the following
rules.
n Green data wires pass logic data.
n Yellow data wires pass numeric data.
n Orange data wires pass text.
Every data plug is designed to collect and process a very specific type of data. For
example, the Display block shown in Figure 8.2 supports nine different types of
input and output plugs. If you position the mouse pointer over the graphic
symbol that labels each of these plugs, the plug type is displayed in a popup
window.
You can look up detailed information for every plug supported by a program-
ming block by examining that block in the Lego Mindstorms NXT 2.0 Help file.
For example, Figure 8.4 shows the table that you will find for the Display block.
Using the information provided in this table, you can identify the type of data
that a plug supports. In addition, you can identify the range of data that it
supports as well as determine what the value of that data means. To set up a
valid data wire, you must connect it between two data plugs that accept the same
data type. However, to set up a useful data wire, you must also make sure that
the plugs the wire will connect are an appropriate match for the data being
passed. In the case of the Display block, this means that when sending X and Y
coordinate data, you connect the data wires to the X and Y input data plugs and
not to one of the other plugs that also happen to accept numeric data.

Trap
As demonstrated in Figure 8.4, some data plugs accept ranges of data. If data outside of these
ranges is passed, an error will occur. The data passed may be ignored, or it may be changed to
make it fit the range.
166 Chapter 8 n Advanced Programming Techniques

Figure 8.4
An example taken from the Lego Mindstorms NXT 2.0 Help file for the Display block.

Identifying Broken Data Wires

Sometimes data wires break. A broken data wire is one that is no longer valid.
Broken data wires lose their color and turn gray, making them easy to identify.
You cannot download NXT-G programs with broken wires into the NXT Brick.
Data wires can break for three possible reasons, listed here:
n Missing Input—Occurs when you attach a data wire to an originating
programming block that has no input source.
n Too Many Inputs—Occurs when an input plug is configured to receive
data from more than one input plug. (Only one input plug is permitted
per data wire connection.)
n Data Type Mismatch—Occurs when you attempt to connect a data wire
between two incompatible data plug types (for example, an output plug
that sends text to an input plug which needs numeric input).
An easy way to determine why a data wire has broken is to move the mouse
pointer over the data wire and then look at the Little Help Window, which tells
 Passing Data Between Blocks Using Data Wires 167

Figure 8.5
An example of a broken data wire with missing input.

you which of the three types of errors has occurred. Figure 8.5 shows an example
of a broken data wire that has missing input.
The data wire connection shown in Figure 8.5 begins at an output plug whose
corresponding input plug does not have a data source. Figure 8.6 demonstrates
that one way of fixing this error is to delete the data wire and redraw it, this time
from the same type of data type plug, in this case, the one located at the bottom
of the Move block’s data hub.
The broken data wire shown in Figure 8.7 has two input sources, which is not
permissible.
Figure 8.8 shows an example of a broken data wire with a data type mismatch.
Here a data logic output plug on a Touch sensor block has been connected to a
Port input plug on a Color Lamp block. The logic plug passes a value of True/
False, but the Port plug can only accept numeric data within a range of 1–4.
168 Chapter 8 n Advanced Programming Techniques

Figure 8.6
The data wire’s missing input error has been corrected.

Figure 8.7
An example of a broken data wire with too many inputs.
 Passing Data Between Blocks Using Data Wires 169

Figure 8.8
An example of a broken data wire with a data type mismatch.

Extending a Data Wire’s Path

As data passes through an output plug and a data wire and then to another
programming block’s input plug, the path that the data travels is referred to as
the wire path. A wire path can be spread out through multiple programming
blocks and data wires. This is achieved by connecting data wires through
programming blocks, corresponding input and output data plugs as demon-
strated in Figure 8.9.

Figure 8.9
An example of a data wire whose path extends through multiple programming blocks.
170 Chapter 8 n Advanced Programming Techniques

In Figure 8.9 the power level input and output plug is used to facilitate the
creation of the wire path. Here, light intensity data is passed from a Light sensor
to a Move block and then on to a Sound block where it is used to configure
volume level. The data that traverses the wire path is not changed.

Programming Blocks That Use Data Wires

This book has already reviewed in great detail the programming blocks located
on the Common palette. These are the same programming blocks that you will
find in the Common group on the Complete palette. In addition, you will find
instances of Common programming blocks located within other block groups
on the Complete palette, where they also logically fit. This chapter reviews a
number of the programming blocks found in the Action, Sensor, Flow, Data,
and Advanced groups, with particular emphasis on how the blocks work with
data wires.

Actions Programming Blocks

The Actions group consists of five programming blocks. Of these, the Sound and
Display blocks have already been covered in Chapter 7, “Working with the
Common Programming Blocks.” These remaining three blocks are discussed in
the sections that follow.

The Motor Block

The Motor block is similar to the Move block. Both are designed to control servo
motors. However, the Motor block provides more precise control. As shown in
Figure 8.10, the Motor block displays information for four attributes: Port,
Direction, Power, and Duration.

Figure 8.10
The Motor block provides detailed control over servo motors.
 Programming Blocks That Use Data Wires 171

Figure 8.11
The Motor block’s configuration panel.

Trap
Avoid using both the Move block and Motor block in the same NXT-G program. Doing so increases
the program’s size. Specifying one or the other allows for code sharing and means one less block
has to be downloaded into the NXT Brick.

Figure 8.11 shows the Motor block’s attributes as seen in the configuration
panel.
As shown in Figure 8.11, the Motor block supports a total of eight attributes and
a Feedback box displays the number of degrees a servo motor has moved. These
attributes include:
Port
Specifies the ports the servo motor is connected to (A, B, or C).
Direction
Specifies the direction that the servo motor will rotate (forward, backward, or
stop).
Action
Specifies how the servo motor will accelerate: Constant—Immediately accel-
erates to the specified power level; Ramp Up—Slowly accelerates to the specified
power level; Ramp Down—Slowly decelerates to the specified power level.
Power
Specifies the servo motor’s power level.
Control
Specifies whether Motor Power is set. If set, Motor Power causes the NXT Brick
to attempt to supply whatever level of power is needed to ensure that the servo
172 Chapter 8 n Advanced Programming Techniques

motor spins at its specified speed (for instance, when operating under adverse
conditions).
Duration
Specifies whether servo motor movement should be measured in seconds,
degrees, rotations, or unlimited.
Wait
Specifies whether the block should finish its execution before allowing other
blocks on the sequence beam to execute.
Next Action
Specifies whether servo motors should brake or coast when the block is done.

The Send Message Block

The Send Message block, shown in Figure 8.12, is used to send messages
wirelessly to another NXT Brick via Bluetooth. The Send Message block is designed
to work in conjunction with the Receive Message sensor block on another robot.
Wireless communications is an advanced topic not covered in this book. For more
information, consult the Lego Mindstorms NXT 2.0 Help file.

The Color Lamp Block

The Color Lamp block, shown in Figure 8.13, is one of the simplest program-
ming blocks to use. It controls the color sensor’s lamp functionality, enabling the

Figure 8.12
The Send Message block sends wireless messages via Bluetooth to other robots.

Figure 8.13
The Color Lamp block is used to make the Color sensor display a colored light.
 Programming Blocks That Use Data Wires 173

display of red, green, or blue light. This block is usually used in pairs, one block
turning a light on and the other block turning it off.
The Color Lamp block has the following attributes.
Port
Specifies the port to which the color sensor has been attached.
Action
Specifies whether the lamp features should be enabled or disabled.
Color
Specifies the color of light that should be displayed (red, green, or blue).

Sensor Programming Blocks

As shown in Figure 8.14, the Sensor group consists of nine programming blocks.
Sensor blocks retrieve data from different sensors and send that data to other
programming blocks that can analyze and act upon it. All sensor blocks pass
data through sensor wires. All nine sensor blocks are operated in a similar

Figure 8.14
There are a total of nine sensor blocks.
174 Chapter 8 n Advanced Programming Techniques

Figure 8.15
The Touch sensor block’s configuration panel.

manner, having only 2 or 3 attribute settings. This section will use the Touch
sensor to demonstrate the operation of all the sensor blocks. To learn more
about the other sensor blocks, consult the Lego Mindstorms NXT 2.0 Help file.
The Touch sensor block sends a logic value (True/False) through a data wire that
indicates the current status of the Touch sensor. As shown in Figure 8.15, this
block has just two attributes, both of which are displayed on its icon.
Port
Specifies the port on the NXT Brick to which the Touch sensor is connected.
Action
Specifies the type of action being tested: Pressed, Released, or Bumped.
To help demonstrate how this sensor block works, look at the example shown in
Figure 8.16. Here, the Touch sensor block is used to control the direction in
which a robot moves. The Touch sensor control block sends a logical value of
True through its data wire when its sensor is pressed, and a False if it is not
pressed. The value passed by the Touch sensor block is passed via data wire to

Figure 8.16
A small NXT-G program that uses the Touch sensor to control the robot’s direction.
 Programming Blocks That Use Data Wires 175

the Motor block’s Direction input plug, which accepts logic data and sets the
Motor block’s Direction attribute. If a True value is received, the Motor block
sets the robot’s direction to forward. If a False value is received, the robot’s
direction is set to backward.

Flow Programming Blocks

As their name suggest, Flow programming blocks control the logical execution
flow of programming blocks on NXT-G beams. There are a total of four Flow
programming blocks. Three of these programming blocks, Wait, Loop, and
Switch, are also found on the Common palette and have already been reviewed
in depth in Chapter 7. The fourth block is the Stop block. It is arguably the
easiest of all the programming blocks to work with. Its sole purpose is to halt a
NXT-G program’s execution.
The Stop block, shown in Figure 8.17, has no configuration panel and thus has
no attributes to configure. The Stop block has a single pair of data plugs, which
receive and send logic data. When a value of True is received on its input plug,
the block halts program execution. If a value of False is received, program
execution continues unaffected.

Data Programming Blocks

Data programming blocks are designed to process data passed to them through
data wires and to send output to other programming blocks through their
output plugs. There are a total of seven different Data programming blocks, each
of which is reviewed in the sections that follow.

The Logic Block

The Logic block, shown in Figure 8.18, performs a logical operation on two
input values. The input values can be specified in the block’s configuration panel

Figure 8.17
The Stop block is used to halt a NXT-G program’s execution.
176 Chapter 8 n Advanced Programming Techniques

Figure 8.18
The Logic block performs a logical comparison on its input data.

Figure 8.19
The Logic block’s configuration panel.

or supplied via data wire. The Logic block outputs a logical (True/False) value
through its output plug.
As shown in Figure 8.19, the Logic block has a single attribute named Operation.
In most cases, input values will be passed to the block via data wire. However,
you can assign input values of True or False by selecting the check (True) or
cross (False) for both of the block’s input values on the configuration panel.
In addition, using the drop-down list located in the upper right corner of the
configuration panel, you can select one of the four following logical operations
that will be used to process the data values.
n And. Outputs a value of True if both input values are true.
n Or. Outputs a value of True if either or both input values are true
(default).
n Xor. Outputs a value of True if one input value is True and the other
value is False. Outputs a value of False if both input values are True or
both input values are False.
 Programming Blocks That Use Data Wires 177

Figure 8.20
The Logic block is used to process data from two sensor blocks, and its output is sent to the Move block,
where it is used to set the robot’s direction.

n Not. Inverts a logical value (used when only one value is received as
input).
To help demonstrate how this data programming block works, look at the
example shown in Figure 8.20. Here, logic data from the Sound and Light sensor
blocks is passed to a Logic block where it is analyzed. If either of these sensor
block’s logic data is True, a value of True is output by the Logic block. When
received by the Move block, a value of True sets the robot’s direction to forward
and a value of False sets the robot’s direction to backward.

The Math Block

The Math block, shown in Figure 8.21, performs a mathematical calculation
using the two input values passed to the block, as indicated by the graphic
symbol displayed on the block’s icon. The input values can be specified in the
block’s configuration panel or supplied via data wire. The Math block outputs
the two values as well as a number representing the result of the block’s
calculation.
As shown in Figure 8.22, the Math block has a single attribute named Operation.
In most cases, input values will be passed to the block via data wire. However,
you can assign input values by typing values into the A and B entry fields.
178 Chapter 8 n Advanced Programming Techniques

Figure 8.21
The Math block performs basic mathematical operations on input data.

Figure 8.22
The Math block’s configuration panel.

Using the drop-down list located in the upper right corner of the configuration
panel, you can select one of the six following mathematical operations that will
be used to process the data values.
n Addition. Adds the two numeric values together (default).
n Subtraction. Subtracts the second value from the first value.
n Multiplication. Multiplies the two numeric values.
n Division. Divides the first numeric value by the second numeric value.
n Absolute Value. Calculates the absolute value of a single value (used
only when the block is given a single value to process).
n Square Root. Calculates the square root of a single value (used only
when the block is given a single value to process).

The Compare Block

The Compare block, shown in Figure 8.23, determines if one input is greater
than, less than, or equal to another input, as indicated by the graphic symbol
displayed on the block’s icon. The input values can be specified in the block’s
 Programming Blocks That Use Data Wires 179

Figure 8.23
The Compare block determines if one input is greater than, less than, or equal to another input.

Figure 8.24
The Compare block’s configuration panel.

configuration panel or supplied via data wire. The Compare block outputs the
two values as well as a logical value representing the result of its comparison.
As shown in Figure 8.24, the Compare block has a single attribute named
Operation. In most cases, input values will be passed to the block via data wire.
However, you can assign input values in the form of two numbers by typing
values into the A and B entry fields.
Using the drop-down list located in the upper right corner of the configuration
panel, you can select one of the three following comparison operations that will
be used to process the data values.
n Less Than. Determines whether the first value is less than the second
value (default).
n Greater Than. Determines whether the first value is greater than the
second value.
n Equals. Determines whether the two values are equal.
To help demonstrate how this data programming block works, let’s look at the
example shown in Figure 8.25. Here, logic data from the Light sensor block is
180 Chapter 8 n Advanced Programming Techniques

Figure 8.25
The Compare block is used to process data from the Light sensor block, and its output is sent to the
Move block, where it is used to set the robot’s direction.

Figure 8.26
The Range block determines if a number is inside or outside of a range of numbers.

passed to a Compare block where it is analyzed. If the Light Intensity value

supplied by the Light sensor is less than 50, a value of True is sent to the Move
block. Otherwise, a value of False is sent. When the Move block receives a value
of True through the data wire, it sets the robot’s direction to forward. When a
value of False is received, the robot’s direction is set to backward.

The Range Block

The Range block, shown in Figure 8.26, determines if a number is inside or
outside of a range of numbers, as indicated by the graphic symbol displayed on
the block’s icon. The input value can be specified in the block’s configuration
panel or supplied via data wire. The Range block outputs the number as well as a
logical value representing the result of its comparison.
As shown in Figure 8.27, the Range block has two attributes: Operation and Test
value. In most cases, an input value will be passed to the block via data wire.
 Programming Blocks That Use Data Wires 181

Figure 8.27
The Range block’s configuration panel.

Figure 8.28
The Random block generates a random number within a specified range.

However, you can assign an input value by typing it in the Test value entry field.
The range against which the input value is compared can be supplied via data
wires (not shown by default on the Range block), or they can be supplied by the
Operation attribute. When configuring this attribute, you can choose between
determining whether the input value is inside (default) or outside the range. To
specify the range, you can either type its upper and lower values in the two entry
fields or use the slider control to specify them.

The Random Block

The Random block, shown in Figure 8.28, generates a random number within a
specified range. The upper and lower ends of the range can be specified in the
block’s configuration panel or supplied via data wire. The Range block outputs
numbers representing the upper and lower range as well as its randomly
generated number from within that range.
As shown in Figure 8.29, the Random block has a single attribute named Range.
Minimum and Maximum range values can be passed to the block via data wire,
or they can be specified as part of the Range attribute by typing them into the A
and B entry fields. Alternatively, these values can be specified using the slider
control located beneath the entry fields.
182 Chapter 8 n Advanced Programming Techniques

Figure 8.29
The Random block’s configuration panel.

Figure 8.30
The Variable block retrieves or modifies a value stored in computer memory.

The Variable Block

The Variable block, shown in Figure 8.30, retrieves or modifies a text, string, or
logical value stored in computer memory. A variable is a value stored in the
NXT Brick’s memory. Each Variable block displays the name of the variable that
it is configured to work with. In addition, a graphic symbol displayed on the
block indicates whether is has been configured to read a variable value from
memory or write it to memory. As shown in Figure 8.30, the Variable block data
hub displays an output plug when configured to read a variable. However, when
configured to write to a variable, it displays both an input and an output plug,
allowing the variable’s new value to be passed to the block via data wire.
Before a variable can be used in your NXT-G program, you must first define it.
To define a variable, you must click on Edit > Define Variables. This displays the
Edit Variables window shown in Figure 8.31. This window can also be used to
delete variables.
As shown in Figure 8.31, every variable that you define must be assigned a
unique name and a data type. In addition, there are three default variables that
are always available. These variables are named Logic 1, Number 1, and Text 1.
To define a new variable, click on the Create button. Next, type a descriptive
name for the variable in the Name field and then, using the drop-down list in
the Datatype field, specify the variable’s data type. Click on Close when done.
 Programming Blocks That Use Data Wires 183

Figure 8.31
New variables are defined from within the Edit Variables window.

Figure 8.32
The Variable block’s configuration panel.

It should be noted that variables exist only in the NXT Brick’s memory. When
the NXT Brick is turned off, the variable is deleted from memory and you will
have to define it again to use it.
Once defined, you can use the Variable block to assign a value to the variable
and to retrieve that value. Figure 8.32 shows the configuration panel for the
Variable block. Three attributes, described below, are available.
List
Lists all available variables and allows you to select one.
184 Chapter 8 n Advanced Programming Techniques

Action
Specifies whether the block will be used to read the variable’s value or to write a
new value in memory for the variable.
Value
The Value attribute is accessible only when the Action attribute is set to Write. It
allows you to assign a value of True or False to a logic variable, a number to a
numeric variable, or to enter a text string to be assigned to a text variable.

The Constant Block

The Constant block, shown in Figure 8.33, retrieves or modifies a text, string, or
logical value stored in computer memory. A constant is a value stored in the
NXT Brick’s memory that, unlike a variable, never changes. Each Constant block
displays the name of the constant that it is configured to work with. The
Constant block data hub has an output plug. A graphic symbol is displayed on
the hub indicating the constant’s data type.
Before a constant can be used in your NXT-G programs, you must first define it.
To define a constant, you must click on Edit > Define Constants. This displays
the Edit Constants window shown in Figure 8.34. This window can also be used
to edit and delete constants.
As shown in Figure 8.34, every constant that you define must be assigned a
unique name and a data type. To define a new constant, click on the Create
button and type a descriptive name for the constant in the Name field and then,
using the drop-down list in the Datatype field, specify the variable’s data type
(Logic, Number, or Text), and then specify the constant’s value in the Value
section. Click on Close when done.

Figure 8.33
The Constant block retrieves a constant value stored in computer memory.
 Programming Blocks That Use Data Wires 185

Figure 8.34
New constants are defined from within the Edit Constants window.

Figure 8.35
The Constant block’s configuration panel.

You can use the Constant block to retrieve the value assigned to the constant
whenever you need it. Figure 8.35 shows the configuration panel for the
Constant block. Four attributes, described below, are available.
Action
The Action attributes allow you to either choose the constant you want to work
with from a list of existing constants or to use the block to define a new constant.
186 Chapter 8 n Advanced Programming Techniques

Data Type
The Data Type attribute, available only when using the block to define a new
constant, is used to specify either Logic, Number, or Text as the constant’s data
type.
Value
The Value attribute, available only when using the block to define a new
constant, allows you to specify a value for the constant.
Name
The Name attribute, available only when using the block to define a new
constant, allows you to assign a name to the new constant.

Advanced Programming Blocks

Advanced programming blocks represent programming blocks that do not fit
into any previously discussed block groups. They perform a range of different
functions. There are a total of seven Advanced programming blocks, each of
which is reviewed in the sections that follow.

The Number to Text Block

The Number to Text block, shown in Figure 8.36, converts a numeric value to a
text value, allowing it to be displayed on the NXT Brick’s LCD. The input value
can be specified in the block’s configuration panel or supplied via data wire. The
Number to Text outputs two values, the number that needs to be converted and
the text string version of that number.

Figure 8.36
The Number to Text block converts a number to a text string allowing it to be displayed on the NXT
Brick’s LCD.
 Programming Blocks That Use Data Wires 187

As shown in Figure 8.37, the Number to Text block has a single attribute named
Number. Normally, the number that the block converts into text is passed to it
via data wire. Alternatively, you can specify the number to be converted by
typing it into the Number entry field.

The Text Block

The Text block, shown in Figure 8.38, concatenates up to three strings together,
creating a new longer string. The input values can be specified in the block’s
configuration panel or supplied via data wire. The block outputs up to four
values, the source text strings, and the resulting concatenated text string.
As shown in Figure 8.39, the Text block has a single attribute named Text.
Normally, the text strings that the block concatenates together will be passed to

Figure 8.37
The Number to Text block’s configuration panel.

Figure 8.38
The Text block concatenates up to three strings together to create a larger string.

Figure 8.39
The Text block’s configuration panel.
188 Chapter 8 n Advanced Programming Techniques

it via data wire. However, you can specify the text strings by typing them into
the three text fields labeled A, B, and C.

The Keep Alive Block

The Keep Alive block is used to override the NXT Brick’s automatic sleep mode,
which puts the NXT Brick to sleep after a period of inactivity resulting from
non-use. See Figure 8.40.
Unlike the other Advanced programming blocks, the Keep Alive block does not
have any attributes to configure.

The File Access Block

The File Access block writes or reads numeric or text data files on the NXT
Brick. The File Access block works similarly to the Variable block, except that
instead of storing data in memory, the data is stored in a file, allowing it to be
stored indefinitely. On the down side, storing data in files consumes more of the
NXT Brick’s available storage space.
As shown in Figure 8.41, graphics symbols that indicate the type of data being
worked with are displayed on the File Access block. The symbols also indicate
whether the block has been configured to read or write data.

Figure 8.40
The Keep Alive block prevents the NXT Brick from entering Sleep Mode.

Figure 8.41
The File Access block writes and reads data from files stored on the NXT Brick.
 Programming Blocks That Use Data Wires 189

Figure 8.42
The File Access block’s configuration panel.

Figure 8.42 shows the configuration panel for the File Access block. Its attributes
are described below.
Action
The Action attribute specifies the actions performed by the block. Available
choices include:
n Read—Reads the data stored in the specified file.
n Write—Writes data to the specified file. If the target file already contains
data, the new data is written to the end of the existing file.
n Close—Closes a file after it has been written to or read from.
n Delete—Deletes the file.

Hint
You must use the Close action after each time you perform an action on a file. For example, if you
write something to a file, you have to close it before you can read from it. You will need to add a
different File Access block to your NXT-G program for each action you perform.

Name
The Name attribute is used to specify the name of the data file that will be
created, processed, deleted, or closed.
File
The File attribute is available only when your NXT Brick is connected to your
computer. It allows you to select an existing file stored on your NXT Brick.
Type
The Type attribute is used to specify the type of data in use (text or numeric).
190 Chapter 8 n Advanced Programming Techniques

Text
Although when writing to a file the data to be written is usually supplied via data
wire, you can specify the data to be written by keying it into the entry field for
the Text attribute. The Text attribute is available only when the Action is set to
Write.

The Calibrate Block

The Calibrate block is used to calibrate the sound and light sensors. Its value is
represented as a percentage between 0 and 100. As demonstrated in Figure 8.43,
symbols displayed on the Calibrate block indentify whether it has been
configured to work with the light or sound sensor as well as whether the
block has been configured to set the minimum or maximum value.

Hint
In addition to calibrating sensors using the Calibrate block, you can also calibrate sensors from the
Lego Mindstorms NXT 2.0 GUI, as described in Chapter 2, “Getting Started.”

Figure 8.44 shows the configuration panel for the Calibrate block. Its attributes
are described below.

Figure 8.43
The Calibrate block is used to calibrate sound and light sensors.

Figure 8.44
The Calibrate block’s configuration panel.
 Programming Blocks That Use Data Wires 191

Port
The Port attribute specifies the port on the NXT Brick to which the sensor being
configured has been attached (1, 2, 3, or 4).
Sensor
The Sensor attribute specifies whether the programming block is to be used to
calibrate a light or sound sensor.
Action
The Action attribute is used to specify whether the block will calibrate or delete
the specified sensor. Deleting a sensor simply restores its default settings.
Value
The Value attribute is used to specify either the minimum (0) or maximum (100) value.

The Reset Motor Block

The Reset Motor block, shown in Figure 8.45, is used to reset the servo motor’s
automatic error correction feature. Text displayed in the upper right corner of the
Reset Motor block shows the ports on which the block will perform the reset.
Although not shown by default, this block’s data hub has three input and output data
plugs that can be used to receive and send the port assignments of the servo motors.
Figure 8.46 shows the configuration panel for the Reset Motor block. As you can
see, it contains a single attribute named Port, which is used to specify on which
port (A, B, or C) the reset action should take place.

Figure 8.45
The Reset Motor block disables automatic error correction for servo motors.

Figure 8.46
The Reset Motor block’s configuration panel.
192 Chapter 8 n Advanced Programming Techniques

Figure 8.47
The Bluetooth Connection block is used to establish a Bluetooth connection with another Bluetooth
device.

This programming block is seldom used. However, it can be helpful in situations

where the Move or Motor blocks have been configured to set the servo motors to
coast to a stop. In these situations the servo motor’s automatic error correction
should accurately keep track of motor movement. However, if you need to, you
can use the Reset Motor block to stop automatic correction.

The Bluetooth Connection Block

The Bluetooth Connection block, shown in Figure 8.47 is used to establish a
connection with another Bluetooth device, such as another NXT Brick. To learn
more about this feature, consult the Lego Mindstorms NXT 2.0 Help file.

Creating Custom Functions

by Creating My Blocks
As you gain additional experience developing NXT-G programs for your robots,
you may often find yourself repeatedly working with and configuring certain
groups or programming blocks in the same way over and over again. This is not
an efficient use of time or energy. A better solution is to develop a custom My
Block made up of these programming blocks and then add the My Block to your
NXT-G programs whenever you need to perform whatever task(s) those
programming blocks are designed to manage. In this way, you can create a
personal library of custom functions, each of which performs a specific task,
allowing you to quickly assemble new NXT-G programs without having to
continuously reinvent the wheel. My Blocks can also be used to hide complexity
in your NXT-G programs.
My Blocks are stored and managed on the Custom palette. They exist in two
forms: My Blocks and Web Blocks. A My Block is a collection of one or more
customized programming blocks that perform a specific task. A Web Block is a
 Creating Custom Functions by Creating My Blocks 193

My Block that someone else has developed and which you have downloaded
from the Internet, allowing you to leverage someone’s programming knowledge
and experience. Lego Mindstorms NXT 2.0 does not come with any My Blocks
or Web Blocks.

Creating and Managing My Blocks

My Blocks are nothing more than collections of programming blocks that you
configure to perform a specific action and then save as a reusable unit in the
form of a new programming block. Once created, My Blocks can be added to a
NXT-G program just like any other programming block.

Creating a My Block
To create a My Block, add and configure the programming blocks you want to
use to the work area. For example, you might create a My Block using the
programming blocks shown in Figure 8.48.
Once you have finished configuring the programming blocks, select them and
either click on the Create My Block toolbar button or click on Edit > Make A
New My Block. In response, the My Block Builder window appears. Assign a
descriptive name to the block by filling in the Block Name field and then
document the block’s function and purpose in the Block Description text field as
demonstrated in Figure 8.49.
When done, click on Next and the My Block Builder window will help you
create a custom icon for the My Block. The bottom part of the window displays
a list of icons that you can drag to the Icon Builder entry field at the top of the
window. You can resize the icon by clicking one of the four squares located at

Figure 8.48
A collection of programming blocks to be used as the basis for creating a My Block.
194 Chapter 8 n Advanced Programming Techniques

Figure 8.49
The My Block Builder window displays the selected programming blocks and allows you to name and
describe the My Block.

the four corners of the icon. A preview of how the My Block’s icon will look,
located in the top right corner of the window, is immediately updated. You may
drag and drop more than one icon onto the Icon Builder entry field, as
demonstrated in Figure 8.50.
Once you are done configuring the appearance of your My Block, click on
Finish.
The programming blocks that make up the My Block are then removed from
the work area and replaced with the new My Block, as demonstrated in
Figure 8.51.
The My Block is automatically added to the Custom palette. To view it, simply
move the mouse pointer over the My Block icon, as demonstrated in Figure 8.52.
 Creating Custom Functions by Creating My Blocks 195

Figure 8.50
You can add and configure one or more icons to the Icon Builder entry area in order to configure the
appearance of your My Block.

Figure 8.51
Once completed, the My Block is displayed in place of the programming blocks that comprise it.
196 Chapter 8 n Advanced Programming Techniques

Figure 8.52
The My Block is made visible on the My Blocks group on the Custom palette.

Modifying a My Block
If you decide you need to make a change to a My Block, you may do so by
adding it to the work area and either double clicking it or selecting it and then
clicking on Edit > Edit Selected My Block. In response, the contents of the My
Block are displayed in their own tabbed window in the work area. Make any
required changes to the programming blocks that make up the My Block and
then close its tabbed window. Click on Yes when prompted to save your
changes.
You can also modify a My Blocks icon by selecting it and then clicking on Edit >
Edit My Block Icon. My Blocks are stored in their own folder as files with an .rbt
file extension. You can delete a My Block by selecting it and then clicking on
 Creating Custom Functions by Creating My Blocks 197

Edit > Manage Custom Palette. This will display a window containing two
folders, one for your My Blocks and one for your Web Blocks. Open the My
Blocks folder, select your My Block file and then press the Delete key to delete it.

Sharing Your My Blocks

If you want, you can take a copy of the My Block file and share it with others,
from your Web site, for example. Any My Blocks that you share in this manner
will be regarded as Web Blocks by others who download and add them to their
Lego Mindstorms NXT 2.0 development environment. To share a My Block, add
it to the work area and then click on Edit > Manage Custom Palette. Locate and
open the My Blocks folder and then make a copy of My Block and you are ready
to share it.

Deleting a My Block
To delete a My Block, add it to the work area and then click on Edit > Manage
Custom Palette. Locate and open the My Blocks folder, select the My Block, and
press the Delete key. If you delete a My Block, you must then go back and
modify any NXT-G programs that made use of it. Otherwise, those programs
won’t work any more. Figure 8.53 shows an example of what a broken My Block
looks like.

Downloading and Installing Web Blocks

As has been stated, a Web Block is just a My Block that you have gotten from
somebody else, downloading it from the Internet, for example. Once you have
downloaded a Web Block from the Internet, all you have to do to begin working
with it is to add it to your Lego Mindstorms NXT 2.0 working environment. To
do so, click on Edit > Manage Custom Palette and open the Web Blocks folder

Figure 8.53
An example of a broken My Block.
198 Chapter 8 n Advanced Programming Techniques

that is displayed. Drag and drop your new Web Block(s) into this folder and
close it.
The next time you place the mouse pointer over the Web Blocks group on the
Custom palette, your new Web Blocks will be displayed, and you can begin
working with them.

Debugging Your NXT-G Programs

Beginning in Chapter 9, “Go Bot,” and going to the end of this book, you will
begin developing robots and the NXT-G programs that make them work. As you
do so, you may run into occasional problems. Most of the time, all you will have
to do to locate and fix programs is carefully review your programming blocks
and look for your mistake. Sometimes, however, mistakes are not easy to find. In
these situations, you need to do a little debugging.
First and foremost, your NXT-G programs won’t download to your NXT Brick
if they contain certain types of errors. These errors include:
n Broken data wires
n Broken data blocks
You will have to identify and fix both of these types of errors before you can
download and test your NXT-G programs. In addition, sometimes program-
ming blocks are accidentally removed from a NXT program’s sequence beams.
Any program blocks not connected to sequence beams are not downloaded to
the NXT Brick. Check your programs for disconnected programming blocks,
and reconnect or remove them as appropriate.
Once you have downloaded your program to your NXT Brick, you can run, test,
and debug them. Debugging is the process of locating and fixing errors that
occur within computer programs. Unlike some programming languages, NXT-G
does not have a built-in debugging tool. However, there are a few simple tricks
that you can employ to help you when trying to locate where errors are
occurring within your NXT-G programs. For starters, you can embed extra
Sound blocks at strategic points within your programs and configure those
blocks to play tones so that you know when different parts of your NXT-G
programs are executing. Using this approach, you may be able to determine the
 Summary 199

part of your NXT-G program where an error is hidden, just by watching your
robot run and listening for the tones that tell you when different parts of your
NXT-G programs are executing.
In a similar fashion, you can embed extra Display blocks within your NXT-G
programs when you are developing them and use those blocks to display
relevant information when your NXT-G programs run. Information that is
displayed might include data that is passed between blocks via data wires or
messages that indicate variable values. You can also use Display blocks in place
of Sound blocks to identify when different parts of your NXT-G programs
execute.
Another way to determine what is going on as your robots run is to leave your
robot’s NXT Bricks attached to your computer when it runs. This allows you to
monitor feedback boxes belonging to programming blocks.

Summary
This chapter rounded out your NXT-G programming foundation by completing
your review of NXT-G programming blocks, including those in the Action,
Sensor, Flow, and Data groups. You learned how to transmit data through these
programming blocks using data hubs and data wires. You also learned how to
create custom functions that facilitate code reuse through the development of
My Blocks. Lastly, you learned a few tricks for tracking programming execution
and locating and fixing program errors. You are now ready to begin developing
the NXT-G programs needed to automate the operation of the robots whose
development is covered in Chapters 9 through 11.
This page intentionally left blank
 Chapter 9

Go Bot

Now it’s time to put everything you have learned so far in this book to good use.
In this chapter you will learn how to create your first robotic project, the Go Bot,
a four-wheeled robot. It uses two servo motors to drive it. It will be programmed
to move forward and backward, talk, and display friendly text messages. Go Bot
is a great first robotic development project, providing an effective example of the
fundamental steps involved in robotic development. It will also provide you with
the opportunity to put your programming skills to good use.
The major topics covered in this chapter include:
n Developing a basic understanding of how to create modular robots.
n A review of Go Bot’s features and capabilities.
n Step-by-step instructions for building Go Bot.
n Learning how to remote control Go Bot.
n A complete review of the NXT-G program that makes Go Bot come to
life.

201
202 Chapter 9 n Go Bot

Robotic Development Methodology

Robotic development is usually completed through a series of steps, beginning
with design, then assembly, and, finally, programming and testing. In each
chapter that follows, you will be presented with a brief introduction that
provides a high-level overview and design of a different robot.
More often than not, development involves a lot of experimentation and plenty
of mistakes, corrections, and modifications. As you work, make sure that you
build structures that are strong and functional. In addition, approach develop-
ment in a modular manner by breaking down your robots into a series of
distinct subassemblies that, when put together, make up your robot. Once
assembly is completed, you will wrap things up by programming and then
testing your robot.

Hint
When you’re done with a robot that you are proud of, it’s a good idea to document what you have
accomplished. This can be done as easily as snapping a picture of your robot, or it can be as
complex as developing a complete set of build instructions, which you can create using various
CAD programs like the Lego Digital Designer or LDRAW. You might even consider creating a video
of your robot’s assembly and operation.

Introducing Go Bot
Moving vehicles are a popular type of robot and make for an excellent starting
point. Go Bot is such a robot. As shown in Figure 9.1, Go Bot is a four-wheeled
robotic vehicle. The two front wheels are connected to and operated by servo
motors and are responsible for the vehicle’s propulsion. The back two wheels
provide additional support.
Go Bot will be programmed to begin by saying and displaying the word Hello on
the NXT Brick’s LCD. Next it will play a tone, move forward, pause, and play
another tone. Go Bot will then move backward to its starting point, play a tone,
and spin in place before saying Goodbye and halting.

Hint
The Go Bot can be used as the basis for creating all sorts of other vehicles. It will serve as the
starting point for the robotic projects in Chapters 10 and 11.
 Building Go Bot 203

Figure 9.1
The Go Bot is a four-wheeled robotic vehicle.

Building Go Bot
Go Bot is a relatively simple and straightforward robotic project. You will create
it in six high level steps as outlined below.
n Preparing the NXT Brick
n Assembling the left motor drive
n Assembling the right motor drive
n Assembling the rear wheel chassis
n Assembling Go Bot
n Programming and testing Go Bot
Figure 9.2 provides a complete listing of all the different electronic components
and parts needed to make Go Bot. Begin your work on this project by retrieving
these pieces from your Lego Mindstorms NXT 2.0 kit and setting them aside to
work with.
204 Chapter 9 n Go Bot

Figure 9.2
The parts inventory list for Go Bot.

Preparing the NXT Brick

Begin the development of Go Bot by preparing the NXT Brick. This involves the
attachment of several pieces to the NXT Brick. This facilitates the connection of
the servo motor assemblies that will be created in Steps 2 and 3 and then added
to the NXT Brick in Step 5.
 Building Go Bot 205

Step 1—Take two 5M straight beams, four connector peg with friction 3M pegs,
and two 3  5M perpendicular beams and connect them as shown in Figure 9.3.

Figure 9.3

Step 2—Take the components created in Step 1 and connect them to the NXT
Brick as shown in Figure 9.4.

Figure 9.4

Assembling the Left Motor Drive

Now it is time to begin working on Go Bot’s servo drive assemblies, beginning
with the left motor drive. This is accomplished in four steps.
206 Chapter 9 n Go Bot

Step 1—Create the robot’s left wheel by connecting a rim to a tire as shown in
Figure 9.5.

Figure 9.5

Step 2—Connect one connector peg with friction and cross axles and six
connector pegs with friction to one of the servo motors as shown in Figure 9.6.

Figure 9.6

Step 3—Connect the completed wheel to the servo motor using one 7M cross
axle and two bushings as shown in Figure 9.7.
 Building Go Bot 207

Figure 9.7

Step 4—Connect two connector pegs with friction to a 3  7 double broken

angle beam, as shown in Figure 9.8, and then connect the double broken angle
beam to the servo motor as also shown in Figure 9.8.

Figure 9.8
Hint
The completed left motor drive should look like the example shown in Figure 9.9.

Figure 9.9
208 Chapter 9 n Go Bot

Assembling the Right Motor Drive

The steps required to create the right motor drive assembly closely mirror the
steps that you followed to assemble the left motor assembly and are accom-
plished in four steps.
Step 1—Create the robot’s right wheel by connecting a rim to a tire as shown in
Figure 9.10.

Figure 9.10

Step 2—Connect one connector peg with friction and cross axles and six
connector pegs with friction to one of the robot’s servo motors as shown in
Figure 9.11.

Figure 9.11
 Building Go Bot 209

Step 3—Connect the completed wheel to the servo motor using one 7M cross
axle and two bushings as shown in Figure 9.12.

Figure 9.12

Step 4—Connect two connector pegs with friction to a 3  7 double broken

angle beam, as shown in Figure 9.13, and then connect the double broken angle
beam to the servo motor, as also shown in Figure 9.13.

Figure 9.13

Hint
The completed right motor drive should look like the example shown in Figure 9.14.
210 Chapter 9 n Go Bot

Figure 9.14

Assembling the Rear Wheel Chassis

With the NXT Brick now prepared and the Go Bot’s left and right servo motor
assemblies complete, it’s time to create the robot’s rear wheel chassis. This will
be accomplished in four steps.
Step 1—Connect two 15M straight beams and two 3  7 angle beams using four
pegged perpendicular block 5M pieces as shown in Figure 9.15. Make sure that
when connecting the pegged perpendicular block 5M pieces to the 15M straight
beams that you insert the peg ends of the pegged perpendicular block 5M pieces
into the first and third holes on each end of the 15M straight beam.

Figure 9.15
 Building Go Bot 211

Step 2—Connect two 3  5M perpendicular beams to the upper left and right
ends of the chassis using a connector peg with friction and connector peg with
friction and cross axle, as shown in Figure 9.16.

Figure 9.16

Step 3—Connect a 3M straight beam to the left side of the rear chassis using a
connector peg with friction and connector peg with friction and cross axle, as
shown in Figure 9.17. Add a second 3M straight beam to the right side of the
rear chassis using a second connector peg with friction and connector peg with
friction and cross axle (not shown in Figure 9.17).

Figure 9.17

Step 4—Assemble a new wheel using a rim and tire and add the wheel to the
rear chassis using a 5M cross axle, two bushings, and two half-bushings as
shown in Figure 9.18.
212 Chapter 9 n Go Bot

Figure 9.18

Hint
The completed rear wheel chassis should look like the example shown in Figure 9.19.

Figure 9.19

Assembling Go Bot
Now that all of the major subassemblies that make up Go Bot have been put
together, it is time to assemble these subassemblies into a completed robot.
Step 1—Attach the left and right servo motor assemblies to the NXT Brick, as
shown in Figure 9.20.
 Building Go Bot 213

Figure 9.20

Step 2—As shown in Figure 9.21, connect the robot’s rear wheel chassis to the
robot by connecting its 3  5M perpendicular beam to the left and right servo
motors using the two sets of connector pegs with friction that are already
connected to the servo motors.

Figure 9.21
214 Chapter 9 n Go Bot

Hint
A fully assembled copy of Go Bot is shown in Figure 9.22.

Figure 9.22

Step 3—To operate, the robot’s two servo motors must be connected to the
NXT Brick. Set this up by connecting the left servo motor to the NXT Brick’s C
port and the right servo motor to the NXT Brick’s B port using a pair of 35cm/
14-inch cables, as shown in Figure 9.23.

Figure 9.23
 Building Go Bot 215

Programming Go Bot
Now that Go Bot has been assembled, it is time to begin work on the NXT-G
program that will bring it to life. The NXT-G program itself will be relatively
simple. It will provide instructions to the Go Bot to perform the following
actions:
n Drive forward
n Drive backward
n Spin in place
n Talk
n Display different text messages
The NXT-G program will be created in three distinct stages. In the first stage,
the programming blocks needed to control the robot’s movement will be added
to the program and configured. The robot’s operation will then be tested to
ensure that things work as they should. Next, Sound and Display blocks will be
added to the NXT-G program to give the robot some personality. This will
complete the development of the robot’s programming. The robot’s operations
will again be tested. Lastly, you will add comments to the NXT-G program that
document its operation, and then you will perform one last test of the robot’s
operations.

Stage 1—Moving the Robot

Begin the development of Go Bot’s NXT-G program by creating a new NXT-G
program named Go_Bot. Once created, drag and drop three instances of the
Move block onto the program’s main sequence beam.
The first Move block will be responsible for moving the robot forward in a
straight line. Select it and configure it as follows:
n Port—Select ports B and C.
n Direction—Select Forward.
n Steering—Make sure the slide is centered in the middle of the slider bar,
configuring the robot to move forward in a straight line.
n Power—Set power to 75 percent.
216 Chapter 9 n Go Bot

n Duration—Set duration to 5 seconds.

n Next Action—Select Brake.
The second Move block will move the robot backward in a straight line to its
original starting position. Select it and configure it as follows:
n Port—Select ports B and C.
n Direction—Select Backward.
n Steering—Make sure the slide is centered in the middle of the slider bar,
configuring the robot to move backward in a straight line.
n Power—Set power to 75 percent.
n Duration—Set duration to 5 seconds.
n Next Action—Select Brake.
The third Move block will be used to spin the robot full circle, pivoting it along
its left front wheel (which is connected to Port C). Select the third Move block
and configure it as follows:
n Port—Select port C.
n Direction—Select Forward.
n Steering—N/A.
n Power—Set power to 75 percent.
n Duration—Set duration to 2900 degrees.
n Next Action—Select Brake.
Figure 9.24 shows how the NXT-G program should look at this point. Save the
program and then turn on and connect the robot (e.g. NXT Brick) to your
computer and download the program by clicking on the NXT Download button
located at the bottom right corner of the work area. Once the NXT-G program
has been downloaded, disconnect Go Bot and place it on the floor in an area free
of obstacles. Press the NXT Brick’s orange button four times to select and run
the NXT-G program.
Ensure that, once started, the Go Bot moves forward and backward and that it
then spins in place. If it does not perform all of these tasks correctly, go back and
 Building Go Bot 217

Figure 9.24
A simple starting version of the Go Bot’s NXT-G program.

review each of the programming blocks that make up the NXT-G program and
ensure that their configuration matches up with the configuration settings
specified for each block. Once you have found and corrected any block
configuration errors, download and retest Go Bot’s operation before proceeding
to the second stage of the program’s development.

Stage 2—Getting the Robot to Speak and Display Text

Now that Go Bot’s base functionality has been programmed and validated, it’s
time to provide the robot with a little personality through the addition and
configuration of Sound, Display, and Wait Sensor programming blocks that
together enable the robot to:
n Say “Hello” when first started.
n Display the text string “Hi. I am Go Bot!” on the NXT Brick’s LCD.
n Pause for two seconds.
n Play a tone before and after each movement made by Go Bot.
n Say “Goodbye.”
n Display the text string “Goodbye” on the NXT Brick’s LCD.
Begin by inserting a Sound block on the sequence beam immediately before the
first of the three Move blocks. Select the Sound block and configure it as follows:
n Action—Select Sound File.
n Control—Select Play.
n Volume—Set value level to 75 percent.
218 Chapter 9 n Go Bot

n Function—Ensure that Repeat is not selected.

n File—Select Hello from the list of files in the scrolling list box.
n Wait—Select Wait for Completion.
Insert a Display block between the Sound block and the first of the three Move
blocks. Select the Display block and configure it as follows:
n Action—Select Text from the drop-down list.
n Display—Select Clear.
n Text—Type Hi. I am Go Bot! in the text entry field.
n Position—Specify a value of 3 for X and 26 for Y.
Insert a Sensor Wait block in between the Display block and the first of the three
Move blocks. Select the Sensor block and configure it as follows:
n Control—Select Time from the drop-down list.
n Until—Type a value of 2 in the Seconds entry field.
Insert a Sound block between the Sensor Time block and the first of the three
Move blocks. Select the Sound block and configure it as follows:
n Action—Select Tone.
n Control—Select Play.
n Volume—Set value level to 75 percent.
n Function—Ensure that Repeat is not selected.
n Note—Specify a note value of C and set it to play for .5 seconds.
n Wait—Select Wait for Completion.
Insert a new Sound block just after the first of the three Move blocks. Select the
Sound block and configure it exactly the same way as you did the previous
Sound block.
Insert another Sound block just after the second of the three Move blocks. Select
the Sound block and configure it exactly the same way as you did the two
previous Sound blocks.
 Building Go Bot 219

Insert another Sound block just after the third of the three Move blocks. Select
the Sound block and configure it as follows:
n Action—Select Sound File.
n Control—Select Play.
n Volume—Set value level to 75 percent.
n Function—Ensure that Repeat is not selected.
n File—Select Goodbye from the list of files in the scrolling list box.
n Wait—Select Wait for Completion.
Next, add a Display block to the end of the sequence beam and configure it as
follows:
n Action—Select Text from the drop-down list.
n Display—Select Clear.
n Text—Type Goodbye in the text entry field.
n Position—Specify a value of 30 for X and 29 for Y.
Lastly, add a Sensor Wait block at the end of the sequence beam. Select the
Sensor block and configure it as follows:
n Control—Select Time from the drop-down list.
n Until—Type a value of 1 in the Seconds entry field.
Figure 9.25 shows how the NXT-G program should now look. Save the program
and then turn on and connect the robot (e.g. NXT Brick) to your computer and
download the program by clicking on the NXT Download button located at the
bottom right corner of the work area. Once the NXT-G program has been
downloaded, disconnect Go Bot and place it on the floor in an area free of

Figure 9.25
This version of the Go_Bot NXT-G program contains all of the robot’s programming logic.
220 Chapter 9 n Go Bot

obstacles. Press on the NXT Brick’s orange button four times to select and run
the NXT-G program.
Before continuing to the final stage of the NXT-G program’s development, test
the robot and make sure it operates as previously described.

Stage 3—Document the NXT-G Program

At this point Go Bot’s NXT-G program is almost done. All that remains is for
you to document its operation. Update the Go_Bot program so that it contains
all of the comments shown in Figure 9.26.
Congratulations on the creation of your very first robot. This is a considerable
achievement. Before moving on to Chapter 10, “Tracker Bot,” to learn how to
further enhance the robot, take a few minutes to fully test the operation of Go
Bot, ensuring that it works as described. If it does not perform exactly as has
been described, go back and review each of the programming blocks that make
up the NXT-G program and ensure that their configuration matches up
correctly with the configuration settings that were previously specified for
each block.

Figure 9.26
The final version of the Go_Bot NXT-G program.
 Remote Controlling Go Bot 221

Remote Controlling Go Bot

As a moving robot, Go Bot’s movement can be controlled via NXT-G programs
that you develop and download into the NXT Brick. Alternatively, you can use
the Remote Control window to control Go Bot with your mouse or keyboard. To
access the Remote Control window, shown in Figure 9.27, click on Tools >
Remote Control.

Hint
In order to be able to make effective use of the Remote Control feature, you either need a relatively
long USB cable or a wireless Bluetooth connection.

For the remote control to work, the NXT Brick must be powered on and a
connection must exist between the robot (e.g. NXT Brick) and your computer.
Otherwise, the Remote Control window will appear grayed out and you will not
be able to access any of the controls shown on it. Often, Lego Mindstorms NXT
2.0 automatically detects and establishes a connection with the NXT Brick.
However, sometimes you may have to do it yourself. To do so, click on the
Connections button and then select your NXT Brick and click on the Con-
nections button followed by the Close button.
With a connection established, use your mouse to click on the Forward, Backward,
Left, and Right button to remotely control the movement of Go Bot. Alternatively,

Figure 9.27
Using the Remote Control window to operate Go Bot.
222 Chapter 9 n Go Bot

you can use the keyboard’s Up, Down, Right, and Left keys to control Go Bot’s
movement. You can adjust the speed at which Go Bot moves by clicking on either
the Increase Speed or Decrease Speed buttons or by clicking directly on the graphic
speed meter to indicate the speed at which you want Go Bot to move.

Summary
This chapter showed you how to create your first robotic creation, Go Bot. In
developing Go Bot, you learned the fundamental steps involved in robotic
development: design, build, program, and test. This chapter explained the
importance of breaking down robot development into subassemblies. You also
learned how to develop Go Bot’s NXT-G program in several stages, testing the
robot’s operation at the end of each stage. Finally, you learned how to use the
Remote Control window to manually take control of Go Bot.
 Chapter 10

Tracker Bot

In this chapter, you will learn how to build and program your second robot. This
robot, called Tracker Bot, is a modified version of the robot you created in
Chapter 9, “Go Bot.” Tracker Bot differs from Go Bot in two distinct ways. First,
Tracker Bot includes a color sensor that it uses to locate and follow a dark line
wherever it may go. Second, Tracker Bot is operated by a totally new NXT-G
program, which provides Tracker Bot with the intelligence needed to perform its
mission: find and follow the line.
The major topics covered in this chapter include:
n A review of the features and capabilities of Tracker Bot
n Detailed building instructions for Tracker Bot
n Instructions for developing the NXT-G program that operates Tracker
Bot

Introducing Tracker Bot

Tracker Bot’s job is to locate and follow a dark line wherever it may go, in a
never ending search to go somewhere. Actually “never ending” is a bit of a
stretch; in reality, Tracker Bot is controlled by a loop that executes for just
60 seconds before ending. Figure 10.1 provides a sneak peek of Tracker Bot.
Note the addition of the color sensor in the front of the robot as well as the
additional assembly needed to connect it to the front of the robot.

223
224 Chapter 10 n Tracker Bot

Figure 10.1
Tracker Bot uses the color sensor in light sensor mode to detect its target path.

Figure 10.2
Go Bot serves as the structural foundation upon which Tracker Bot is built.

Building Tracker Bot

Tracker Bot is a mobile robot. Since you already have a working mobile robot in
the form of Go Bot, shown in Figure 10.2, you can use it as the foundation upon
which Tracker Bot is built. Leveraging previous work in this manner is a
 Building Tracker Bot 225

commonly used design and building technique that Lego Robotic developers
take advantage of.
Tracker Bot is created in five steps, outlined here:
n Preparing the color sensor for connection
n Assembling support beams
n Completing the sensor assembly
n Connecting the sensor assembly to the robot
n Programming Tracker Bot
Figure 10.3 provides a complete listing of all the different parts needed to
upgrade Go Bot to Tracker Bot. Begin your work on this project by retrieving Go
Bot and then getting the pieces pictured in Figure 10.3 from your Lego
Mindstorms NXT 2.0 kit.

Figure 10.3
The parts inventory list for Tracker Bot.
226 Chapter 10 n Tracker Bot

Preparing the Color Sensor for Connection

Begin the development of Tracker Bot by preparing the color sensor. This
involves the attachment of several pegs that will be used to facilitate the
connection of the sensor to the robot.
Step 1: Place the color sensor upside down and then connect three connector
pegs with friction 3M to it as shown in Figure 10.4.

Figure 10.4

Step 2: Attach two 3M straight beams to the color sensor as shown in

Figure 10.5.

Figure 10.5
 Building Tracker Bot 227

Step 3: Take two 2  4M perpendicular beams and connect a single connector

peg with friction to each. Then connect the 2  4M perpendicular beams to the
color sensor as shown in Figure 10.6.

Figure 10.6

Hint
Figure 10.7 shows how the color sensor should look now that it has been prepared for connection
to the sensor assembly.

Figure 10.7

Assembling Support Beams

The next set of steps involved in the creation of the sensor assembly requires the
preparation of additional support beams that will be used to mount the color
sensor onto the front of the robot.
228 Chapter 10 n Tracker Bot

Step 1: Take a 13M straight beam and connect a connector peg with friction and
cross axle to it and then take a 2M straight beam and connect a connector peg
with friction and cross axle and a connector peg with friction 3M to it, as shown
in Figure 10.8.

Figure 10.8

Step 2: Connect the two beams used in Step 1 together as shown in Figure 10.9.

Figure 10.9

Step 3: Take another 13M straight beam and connect a connector peg with
friction and cross axle to it and then take another 2M straight beam and connect
a connector peg with friction and cross axle and a connector peg with friction
3M to it, as shown in Figure 10.10.
 Building Tracker Bot 229

Figure 10.10

Step 4: Connect the two beams used in Step 3 together as shown in Figure 10.11.

Figure 10.11

Completing the Sensor Assembly

Now it is time to finish putting together the sensor assembly. This is
accomplished using the color sensor and support beams created in the previous
steps.
Step 1: Connect the two sets of support beams to the color sensor, as shown in
Figure 10.12.
230 Chapter 10 n Tracker Bot

Figure 10.12

Step 2: The final step in the development of the sensor assembly is to connect a
12M cross axle to the bottom of the assembly, as shown in Figure 10.13.

Figure 10.13

Hint
Figure 10.14 shows how the sensor assembly should look once all subcomponents have been
connected.

Figure 10.14
 Building Tracker Bot 231

Connecting the Sensor Assembly to the Robot

All that is left in the construction of the robot is to attach the sensor assembly to
Go Bot, thus creating the Tracker Bot. This connection is facilitated via the
beams that protrude from the front of Go Bot.
Step 1: Connect the color sensor assembly to the front of the robot, as shown in
Figure 10.15.

Figure 10.15

Hint
Figure 10.16 shows an example of how Tracker Bot should look once it is fully assembled.

Figure 10.16
232 Chapter 10 n Tracker Bot

Step 2: In order to take advantage of its new sensor assembly attachment, the
color sensor must be connected to the NXT Brick. Set this up by connecting the
color sensor to the NXT Brick’s number 3 port using a 35cm/14-inch cable, as
shown in Figure 10.17.

Figure 10.17

Programming Tracker Bot

Now that you have turned Go Bot into Tracker Bot, it is time to develop the
NXT-G program that will make use of its new color sensor and turn it into a
tracking robot. The NXT-G program itself is relatively straightforward, provid-
ing instructions to the Tracker Bot that perform the following actions:
n Repeatedly play a sound file that makes a sonar-type sound
n Briefly pause after playback
n Announce that it is ready to begin tracking
n Use the color sensor in light mode to locate and track a dark-colored
line
Tracker Bot’s NXT-G program is created in three stages. In the first stage, a loop
is set up that contains the programming blocks needed to continually check
sensor data and control Tracker Bot’s movement. Once this stage is complete,
 Building Tracker Bot 233

you should put Tracker Bot through its first test run, which you can do using the
Mindstorms NXT 2.0 Test Pad that came with your Lego Mindstorms NXT 2.0
kit. Just place the robot on the pad and point it in the direction of the circular
black track line that is drawn across the entire pad.
Next, you will add Sound blocks, a Wait block, and a second Loop block to the
NXT-G program in order to provide its sound effects. This will complete the
development of the robot’s programming, allowing you to put it through a
second round of testing. The third and final stage of program development
consists of documenting the NXT-G program through the addition of comments
that explain the program’s operation. When done adding the comments, you
should, of course, put the robot through one last test of its operation.

Stage 1—Moving the Robot

Begin the development of Tracker Bot’s NXT-G program by creating a new
NXT-G program named Tracker_Bot. Once created, drag and drop a Loop block
onto the main sequence beam. This block will be configured to execute its loop
for 60 seconds, at which time Tracker Bot will cease operation. Next, place a
Switch block inside the Loop block. The Switch block will be used to configure
the color sensor to operate in Light mode and collect and analyze the data that
the sensor generates. Finally, drag and drop two Move blocks onto the upper
half of the Switch block, and then drag and drop two more Move blocks onto the
lower half of the Switch block.
As previously stated, the Loop block will be set up to run for 60 seconds. Select
this block and configure it as follows:
n Control—Select Time from the drop-down list.
n Until—Set Seconds to 60.
n Show—Leave the Counter option disabled.
The Switch block must be configured to operate the color sensor in light sensor
mode. Select and configure it as follows:
n Control—Select Sensor from the drop-down list.
n Sensor—Select Color Sensor from the drop-down list.
234 Chapter 10 n Tracker Bot

n Display—Leave the Flat view option enabled.

n Port—Set the Port assignment to 3.
n Action—Select Light Sensor from the drop-down list.
n Compare—Specify a value of 40 as the trigger value for the sensor
(triggering the sensor whenever a light level above 40% is detected).
n Function—Enable the Light option and select the green light (turning on
the sensor and enabling it to detect when the light is reflected back to
the sensor).
The Switch block collects and analyzes sensor data. The two Move blocks in the
upper half of the Switch block are executed when a “light” value (> 40) is
detected. The first of these two Move blocks powers the servo motor attached to
the NXT Brick B port, moving the robot a little to the left. Select it and configure
it as follows:
n Port—Select port B.
n Direction—Select Forward.
n Steering—This option will be disabled.
n Power—Set power to 15 percent.
n Duration—Select Unlimited.
n Next Action—This option will be disabled.
The second Move block in the upper half of the Switch block powers the servo
motor attached to the NXT Brick’s C port, moving the robot to the right. Select
it and configure it as follows:
n Port—Select port C.
n Direction—Select Forward.
n Steering—This option will be disabled.
n Power—Set power to 75 percent.
n Duration—Select Unlimited.
n Next Action—This option will be disabled.
 Building Tracker Bot 235

The Move blocks located in the lower half of the Switch block are executed when
“dark” value (< 40) is detected. The first of these two Move blocks powers the
servo motor attached to the NXT Brick’s B port, moving the robot to the left.
Select it and configure it as follows:
n Port—Select port B.
n Direction—Select Forward.
n Steering—This option will be disabled.
n Power—Set power to 75 percent.
n Duration—Select Unlimited.
n Next Action—This option will be disabled.
The second Move block in the lower half of the Switch block powers the servo
motor attached to the NXT Brick C port, moving the robot a little to the right.
Select it and configure it as follows:
n Port—Select port C.
n Direction—Select Forward.
n Steering—This option will be disabled.
n Power—Set power to 15 percent.
n Duration—Select Unlimited.
n Next Action—This option will be disabled.
Figure 10.18 shows how the NXT-G program should look at this point. Save the
program. Connect Tracker Bot (e.g. the NXT Brick) to your computer and
download the program by clicking on the NXT Download button located at the
bottom right corner of the work area. Once the NXT-G program has been
downloaded, disconnect Tracker Bot and place it on the Mindstorms NXT 2.0
Test Pad, pointing it in the general direction of the large dark oval drawn on the
pad. Press on the NXT Brick’s orange button four times to select and run the
NXT-G program.
Ensure that Tracker Bot is able to locate and begin following the dark oval line.
If Tracker Bot detects and then loses track of the line, restart the program,
236 Chapter 10 n Tracker Bot

Figure 10.18
This version of the Tracker_Bot program enables the robot’s basic execution.

adjusting its starting position, putting it a little more in line with the robot’s
starting direction. If Tracker Bot does not perform correctly, go back and review
each of the programming blocks that make up the NXT-G program and ensure
that their configuration matches up with the configuration settings specified for
each block and then update, download, and retest the robot again.

Stage 2—Adding Sound Effects

The core functionality needed to make Tracker Bot do its things is now in place.
Now it’s time to further enhance the NXT-G program, providing the robot with
the sound effects needed to make it more interesting to watch and enjoy. This
will be accomplished through the addition of a pair of Sound blocks and a Wait
block that together enable the Tracker Bot to:
n Play a sonar-like sound at the beginning of its operation
n Pause for two seconds
n Say “OK,” announcing that it is ready to begin tracking
 Building Tracker Bot 237

Begin by inserting a Loop block on the sequence beam immediately before the
Loop block. Configure it to repeat its execution three times by selecting it and
configuring it as follows:
n Control—Select Count from the drop-down list.
n Until—Set Count to 3.
n Show—Leave the Counter option disabled.
Drag and drop a Sound block inside the Loop blocks that you just configured.
Select the Sound block and configure it as follows:
n Action—Select Sound File.
n Control—Select Play.
n Volume—Set value level to 75 percent.
n Function—Ensure that Repeat is not selected.
n File—Select !Sonar from the list of files in the scrolling list box.
n Wait—Select Wait for Completion.

Hint
Sound files with the ! character as the first character in their file name are played sound effects. All
other sound files represent spoken words.

Tracker Bot will now begin its execution after playing a sonar sound three times.
Next, add a Sensor Wait block to the main sequence beam, placing it between
the NXT-G program’s two loops. Select the Wait block and configure it as
follows.
n Control—Select Time from the drop-down list.
n Until—Type a value of 2 in the Seconds entry field.
Next, add a final Sound block to the NXT-G program, placing it immediately
before the second Loop block. Select the Sound block and configure it as follows.
n Action—Select Sound File.
n Control—Select Play.
238 Chapter 10 n Tracker Bot

Figure 10.19
A more robust version of the Tracker Bot program.

n Volume—Set value level to 75 percent.

n Function—Ensure that Repeat is not selected.
n File—Select OK from the list of files in the scrolling list box.
n Wait—Select Wait for Completion.
Figure 10.19 shows how the Tracker_Bot program should now look. If you have
not done so, go ahead and save the program, connect the robot (e.g. the NXT
Brick) to your computer and download the program by clicking on the NXT
Download button located at the bottom right corner of the work area.
Disconnect Tracker Bot, place it on the Mindstorms NXT 2.0 Test Pad and
press on the NXT Brick’s orange button four times to select and run the NXT-G
program.
Before continuing to the final stage of the NXT-G Program’s development, test
the robot and make sure it operates as previously described.

Stage 3—Documenting the NXT-G Program

At this point, Tracker Bot’s NXT-G program is almost done. What remains is to
document its operation. This is accomplished by adding the comments shown in
Figure 10.20 to the program.
 Summary 239

Figure 10.20
The final version of the Tracker_Bot NXT-G program.

Congratulations on the completion of another robot development project.

Before moving on to Chapter 11, “Detector Bot,” take a few minutes to fully
test Tracker Bot. Make sure everything works as has been described. If necessary,
go back and review each of the programming blocks that make up the NXT-G
program and check to see if you made any configuration errors.

Summary
This chapter took you step-by-step through the steps required to modify and
enhance Go Bot and turn it into Tracker Bot. In doing so, you gained practical
experience working with the color sensor. You also got the chance to stretch
your NXT-G programming skills, employing conditional logic and a loop, as you
wrote the program file that tied everything together.
This page intentionally left blank
 Chapter 11

Detector Bot

This chapter’s robotic project is Detector Bot. Detector Bot is a modified version
of Tracker Bot. Its job is to seek out an object located at the end of its path. It
features a new assembly that includes a touch sensor. This allows the robot to
detect when it comes into contact with its target object. With this new sensor
assembly in place, the robot will be able to finally reach the end of its quest,
following its path until it finds its objective.
The major topics covered in this chapter include:
n A review of the features and capabilities of Detector Bot
n Detailed building instructions for Detector Bot
n Instructions for developing the NXT-G program that operates Detector
Bot

Introducing Detector Bot

Detector Bot represents another evolutionary step in the development of the
robot that you developed in Chapter 9, “Go Bot.” In this chapter, the robot is
enhanced with a touch sensor, enabling it to detect when it comes into contact
with another object. Along with this new capability comes a new job for
Detector Bot: to follow its assigned path until it finds its target object, which
can be a book, a shoe, or anything else you choose to place in the robot’s path.

241
242 Chapter 11 n Detector Bot

Figure 11.1
Detector Bot uses a touch sensor to determine when it has found its target.

Figure 11.1 shows how Detector Bot will look when it is complete. Note the
addition of the touch sensor located in the front of the robot as well as the use of
a cross axle and two teeth that extend the ability of the touch sensor to detect
objects along a wider path.

Building Detector Bot

Tracker Bot, shown in Figure 11.2, is the starting point for the creation of
Detector Bot. Detector Bot has a new touch sensor assembly that allows it to
determine when it comes into contact with other objects.

Figure 11.2
Tracker Bot will serve as the basis for building Detector Bot.
 Building Detector Bot 243

Detector Bot will be created in six steps, as outlined here:

n Preparing the touch sensor for connection
n Connecting screens to the assembly
n Adding support beams to the assembly
n Extending touch sensor reach
n Connecting the touch sensor assembly
n Programming Detector Bot
Figure 11.3 provides a complete inventory of the parts needed to enhance
Tracker Bot and turn it into Detector Bot. Begin your work on this project by
retrieving these parts from your Lego Mindstorms NXT 2.0 kit.

Figure 11.3
The parts inventory list for Detector Bot.
244 Chapter 11 n Detector Bot

Preparing the Touch Sensor for Connection

Begin the development of Detector Bot by preparing the touch sensor for
connection to the robot. This involves the connection of several connector pegs
with friction 3M and a pair of 3M straight beams to the sensor.
Step 1: Place the touch sensor upside down and connect a connector peg with
friction 3M to it, as shown in Figure 11.4.

Figure 11.4

Step 2: Attach two connector pegs with friction 3M to two 3M straight beams, as
shown in Figure 11.5.

Figure 11.5

Step 3: Take the two 3M straight beams and connect them to the touch
sensor using the already attached connector pegs with friction 3M, as shown in
Figure 11.6.
 Building Detector Bot 245

Figure 11.6

Hint
Figure 11.7 shows how the touch sensor looks now that it has been prepared for connection to the
sensor assembly.

Figure 11.7

Connecting Screens to the Assembly

To give Detector Bot a bit of an armored look and feel, let’s connect the left and
right screens to the touch sensor, providing the sensor with a little added
protection in the process. In addition to making the touch sensor assembly look
a little snazzier, these screens also assist with the sensor’s connection to the robot
and serve as key components to connect the sensor to its support beams.
246 Chapter 11 n Detector Bot

Step 1: Place the left and right screens upside down on a flat surface and connect
a connector peg with friction and a connector peg with friction 3M to each
screen, as shown in Figure 11.8.

Figure 11.8

Step 2: Place the touch sensor in an upright position between the two screens
and connect the screens to the sensor, as shown in Figure 11.9.

Figure 11.9

Hint
Figure 11.10 shows how the touch sensor looks now that it has been connected to the left screen
and the right screen.
 Building Detector Bot 247

Figure 11.10

Adding Support Beams to the Assembly

In order to connect the touch sensor to the robot, you need to provide the
assembly with a pair of support beams.
Step 1: Connect a pair of connector pegs with friction 3M to two 11M straight
beams, as shown in Figure 11.11.

Figure 11.11

Step 2: Connect the support beams to the touch sensor assembly, as shown in
Figure 11.12.
248 Chapter 11 n Detector Bot

Figure 11.12

Hint
Figure 11.13 shows how the touch sensor assembly looks now that its support beams have
been added.

Figure 11.13

Extending Touch Sensor Reach

The touch sensor is able to detect contact with another object only along a very
small area (its orange tip). It is possible for the robot to come into contact with
another object but for the touch sensor not to detect it unless the object is placed
dead center in front of the robot. By adding a small attachment to the front of
the touch sensor, you can significantly expand its reach.
 Building Detector Bot 249

Step 1: Insert a 9M cross axle into a catch with cross hole and then center
the catch on the axle. Add a pair of teeth to the end of the 9M cross axle and
connect a 3M cross axle to the open end of the catch with cross hole, as shown in
Figure 11.14.

Figure 11.14

Step 2: Connect the component you assembled in the previous step to the touch
sensor assembly, as shown in Figure 11.15.

Figure 11.15

Hint
Figure 11.16 shows how the touch sensor assembly looks now that it has been completely
assembled.
250 Chapter 11 n Detector Bot

Figure 11.16

Connecting the Touch Sensor Assembly

Now that the touch sensor assembly has been fully assembled, it can be
connected to the robot.
Step 1: Withdraw the two connector pegs with friction 3M from the end of both
11M straight beams and slide the beams between the robot’s color sensor and
the support beams to which the color sensor is attached. Attach the end of the
touch sensor assembly’s support beams to the robot, as shown in Figure 11.17
using the two connector pegs with friction 3M that you previously withdrew.

Figure 11.17
 Building Detector Bot 251

Hint
When properly attached, the touch sensor can be raised or lowered. When lowered, it should float
approximately a quarter inch above the surface of the ground.

Step 2: Using a 20cm/8-inch cable, connect the touch sensor to Port 1 on the
NXT Brick, as shown in Figure 11.18.

Figure 11.18

Programming Detector Bot

Now that you have completed the transformation of Tracker Bot into Detector
Bot, it is time to update the robot’s NXT-G program, enabling it to capture and
process touch sensor input. The NXT-G program enhancements include the
expansion of the NXT-G program’s loop in order to incorporate the continuous
collection and analysis of touch sensor input. Specifically, the program will be
modified to accommodate the following actions:
n Repeatedly collect and analyze touch sensor data.
n Announce that an object has been detected and display a corresponding
message on the NXT Brick’s LCD when the robot makes contact with
another object.
n Halt program and robot execution when contact is made with another
object.
252 Chapter 11 n Detector Bot

n Play a Game Over message and display corresponding text if the robot
does not make contact with another object within 60 seconds.
As with previous projects, Detector Bot’s NXT-G program will be developed in a
series of stages. In the first stage, Tracker Bot’s program will be copied and
renamed. In the second stage, the program’s programming logic will be updated
to include the collection and analysis of touch sensor input and to halt program
execution if appropriate. Once this stage is complete, you will put Detector Bot
through its first test run to ensure that the program enhancements work
correctly.
In the third stage of the NXT-G program’s development, you will add
programming logic that announces the end of the program’s execution (when
60 seconds has expired without the robot detecting its target object). You will
once again test the robot’s operation, this time to validate that the program shuts
down the robot’s execution, as just described, when time expires. The fourth and
final stage of the NXT-G program’s development enhances the program through
the addition of comments.

Stage 1—Creating a NXT-G Program for Detector Bot

Stage 1 of the development of the NXT-G program for Detector Bot is quite
simple. Begin by making a copy of the Tracker_Bot program, renaming it
Detect_Bot. Double click on the Detect_Bot program to open and load it into
Lego Mindstorms NXT 2.0 GUI. Verify that it contains the programming logic
outlined in Figure 11.19.

Stage 2—Incorporating and Analyzing Touch Sensor Data

Stage 2 involves the incorporation of programming logic that captures and
analyzes touch sensor data and manages early program termination when the
robot detects contact with another object in its path.
Begin by dragging and dropping a Switch code block inside the program’s Loop
block, placing it after the existing Switch block (which processes color sensor
data). Select and configure the new Switch block as follows:
n Control—Select Sensor from the drop-down list.
n Sensor—Select Touch Sensor from the drop-down list.
 Building Detector Bot 253

Figure 11.19
Tracker Bot’s NXT_G program serves as the starting point in the development of the Detector Bot’s
program.

n Display—Make sure the Flat View option is selected.

n Port—Select port 1.
n Action—Select Pressed as the action that will trigger the program blocks
located in the upper half of the Switch block.
Next add a sound block to the upper half of the Switch block. This block will be
used to play an audio file when the robot makes contact with another object.
Select and configure the new Sound block as follows:
n Action—Select Sound File.
n Control—Select Play.
n Volume—Set value level to 100 percent.
n Function—Ensure that Repeat is not selected.
n File—Select Object Detected from the list of files in the scrolling list box.
n Wait—Select Wait for Completion.
A message should be displayed on the NXT Brick’s LCD announcing when an
object has been detected. To do so, drag and drop a Display block onto the top
254 Chapter 11 n Detector Bot

half of the Switch block, placing it after the Sound block. Select the Display block
and configure it as follows.
n Action—Select Text from the drop-down list.
n Display—Select Clear.
n Text—Type Object found in the text field entry box.
n Position—Specify a value of 8 for the X coordinate and 32 for the Y
coordinate.
Drag and drop a Sensor Wait block at the end of the sequence beam. Select the
Sensor block and configure it as follows:
n Control—Select Time from the drop-down list.
n Until—Type a value of 1 in the Seconds entry field.
Next, drag and drop a Stop block into the Switch block, placing it after the
Display block. The Stop block has no configuration panel. Its purpose is to halt
the execution of the NXT-G program.
Figure 11.20 shows how the programming logic outlined in the program’s loop
should look at this point in the NXT-G program’s development.

Figure 11.20
The programming logic in the NXT-G program’s loop has been enhanced to capture touch sensor data
and to control early program termination.
 Building Detector Bot 255

Before continuing to the final stage of the NXT-G program’s development, set
aside some time to test the robot and make sure it operates as previously
described. Start by saving the program. Next, connect the robot (e.g., the NXT
Brick) to your computer and download the program by clicking on the NXT
Download button located at the bottom right corner of the work area.
Disconnect Tracker Bot, place it on the Mindstorms NXT 2.0 Test Pad and
press on the NXT Brick’s orange button four times to select and run the NXT-G
program. Once you have verified that the robot has successfully located and
begun tracking the path outlined by the solid block line, place an object like a
book or soda can in Detector Bot’s path and make sure the robot detects the
object and then halts.
If Detector Bot does not perform as expected, go back and review each of the
programming blocks that you added to the new Switch block that you inserted
inside the program Loop block and ensure that their configuration matches up
with the configuration settings specified for each block. If you find any errors in
block configuration, correct the errors and then download, and retest the robot
again.

Stage 3—Enhancing Program Termination

The last stage in the development of Detector Bot’s NXT-G program requires
the addition of two programming blocks. These blocks will not materially affect
the operation of the robot. Their purpose is to shut down the robot after
60 seconds of operation.
Begin by dragging and dropping a Sound block to the end of the sequence beam,
just after the end of the program’s Loop block. Select the Sound block and
configure it as follows.
n Action—Select Sound File.
n Control—Select Play.
n Volume—Set value level to 75 percent.
n Function—Ensure that Repeat is not selected.
n File—Select Game Over from the list of files in the scrolling list box.
n Wait—Select Wait for Completion.
256 Chapter 11 n Detector Bot

Figure 11.21
If 60 seconds pass with no collision, the NXT-G stops its execution and announces that it has failed to
locate its target.

Wrap things up by dragging and dropping a Display block onto the end of the
sequence beam, placing it just after the Sound block that you just configured.
Select the Display block and configure it as follows.
n Action—Select Text from the drop-down list.
n Display—Select Clear.
n Text—Type Object not found in the text field entry box.
n Position—Specify a value of 3 for the X coordinate and 28 for the
Y coordinate.
At this point, you have completed the development of the NXT-G program’s
programming logic. Figure 11.21 shows how the two programming blocks that
you just added should look.

Stage 4—Documenting Your NXT_G Program

All that remains to wrap up your work on Detector Bot is to update the NXT
program’s internal documentation through the addition of comments that
explain the program’s purpose and operation. This is accomplished by adding
the comments shown in Figure 11.22 to the program.
 Summary 257

Figure 11.22
The final version of the Detect_Bot NXT-G program.

Summary
In this chapter you learned how to enhance Tracker Bot, turning it into Detector
Bot through the addition of a new touch sensor assembly and the extension of its
NXT-G program. Detector Bot sill locates and follows a dark line wherever it
may go. However, the robot now has the ability to determine when it comes into
contact with another object, allowing it to ascertain when it has found its target
object and completed its mission.
This page intentionally left blank
 Chapter 12

Alarm Bot

Congratulations on making it to the final chapter in this book. In this chapter

you will complete one last robot development project, creating a new robot
named Alarm Bot. Alarm Bot is an automation guard robot that generates an
alert whenever it detects an object within four feet of the robot in any direction.
This is accomplished using the ultrasonic sensor, which is repeatedly spun
around in a 360-degree circle, allowing the robot to track intruders approaching
from any possible direction.
The major topics covered in this chapter include:
n A review of the features and capabilities of Alarm Bot
n Detailed building instructions for Alarm Bot
n Instructions for developing the NXT-G program that operates Alarm Bot

Introducing Alarm Bot

Alarm Bot’s job is to detect and generate an alarm whenever it detects an object
within its range of operation. Figure 12.1 provides a sneak peek of Alarm Bot.
Note that in addition to using the ultrasonic sensor to detect intruders, Alarm
Bot also has a color sensor, which it operates as a multi-colored lamp, flashing
different colors and playing alarm messages whenever it sounds an alarm.
Alarm Bot is designed to be placed in the center of any room and to generate an
audio alarm if it detects any object (intruder) within a four-foot radius. Figure 12.2
259
260 Chapter 12 n Alarm Bot

Figure 12.1
Alarm Bot’s electronic components consist of two sensors and a servo motor.

provides a graphical representation of Alarm Bot’s radius of detection. Alarm

Bot’s radius consists of a full 360-degree circle that extends four feet out from the
robot’s location.

Building Alarm Bot

Alarm Bot consists of a wide collection of electronic and nonelectronic
components. To simplify its construction, it will be created in a series of eight
steps, as outlined here:
n Assembling a framework base
n Adding a platform to the NXT Brick to support the servo motor
n Adding support struts to support the servo motor
n Connecting the servo motor
n Preparing the ultrasonic sensor
 Building Alarm Bot 261

Figure 12.2
Alarm Bot uses the ultrasonic sensor to detect when an object comes within 48 inches of the robot.

n Preparing the color sensor

n Completing Alarm Bot’s assembly
n Programming Alarm Bot
Figure 12.3 provides a complete inventory of the parts needed to build Alarm
Bot. Begin your work on this project by retrieving these parts from your Lego
Mindstorms NXT 2.0 kit.

Assembling a Framework Base

Begin the development of Alarm Bot by preparing a base framework to which
the NXT Brick can be attached and that will serve as the foundation upon which
the robot is built.
262 Chapter 12 n Alarm Bot

Figure 12.3
The parts inventory list for Alarm Bot.

Step 1: Attach two 11M straight beams to the right side of the NXT Brick using
four connector pegs with friction.
Step 2: Connect the lower end of the two 11M straight beams to a 13M straight
beam using two more connector pegs with friction.
 Building Alarm Bot 263

Step 3: Connect one additional connector peg with friction directly to the NXT
Brick, as shown in Figure 12.4.

Figure 12.4

Step 4: Attach two more 11M straight beams to the left side of the NXT Brick
using four connector pegs with friction.
Step 5: Connect the lower end of the two 11M straight beams to a 13M straight
beam using two more connector pegs with friction, as shown in Figure 12.5.

Figure 12.5
264 Chapter 12 n Alarm Bot

Adding a Platform to the NXT Brick

to Support the Servo Motor
Now it’s time to modify the base framework by adding a platform that will be
used to support the addition of the robot’s servo motor.
Step 1: Connect two 3M pegged blocks together, as shown in Figure 12.6.

Figure 12.6

Step 2: Connect three 5M straight beams together using a pair of 3M connector

pegs with friction, as shown in Figure 12.7.

Figure 12.7

Step 3: Connect the pair of 3M pegged blocks to the three 5M straight beams, as
shown in Figure 12.8.
 Building Alarm Bot 265

Figure 12.8

Hint
Figure 12.9 shows how the support platform looks once it is assembled.

Figure 12.9

Step 4: Connect the support platform to the framework base, as shown in

Figure 12.10.
266 Chapter 12 n Alarm Bot

Figure 12.10

Adding Support Struts to Support the Servo Motor

In addition to the support platform, the robot’s servo motor will also be supported
by a pair of support struts, which help to keep the servo motor firmly in place.
Step 1: Connect a connector peg with friction, a cross axle extension, a 2M cross
axle with grooves, an angle connector 90 degrees, a 4M cross axle and a bushing
together, as shown in Figure 12.11.

Figure 12.11

Step 2: Assemble a second support strut.

Step 3: Connect both sets of support struts to the framework base, as shown in
Figure 12.12.
 Building Alarm Bot 267

Figure 12.12

Hint
Figure 12.13 shows how the support struts look after they are added to the framework base.

Figure 12.13
268 Chapter 12 n Alarm Bot

Connecting the Servo Motor

Now it is time to connect the servo motor to the robot. The servo motor will be
used to rotate the robot’s ultrasonic sensor left, and then right, a full 360 degrees
each time.
Step 1: Attach the servo motor to the 3M pegged block that makes up part of the
support platform, as shown in Figure 12.14.

Figure 12.14

Step 2: As you attach the servo motor to the 3M pegged block, make sure you
also connect the servo motor to the two support struts, as shown in Figure 12.15.

Hint
Figure 12.16 shows how the robot should look now that the servo motor has been attached.
 Building Alarm Bot 269

Figure 12.15

Figure 12.16

Step 3: Finish securing the servo motor to the robot by capping the two 4M
cross axles at the top of the support struts with two half-bushings, as shown in
Figure 12.17.
270 Chapter 12 n Alarm Bot

Figure 12.17

Preparing the Ultrasonic Sensor

At this point, the framework for Alarm Bot is complete. All that remains is to
assemble and connect its sensor subassemblies. The first of these assemblies is
the ultrasonic sensor subassembly.
Step 1: Take two 5M straight beams, two 3M connector pegs with friction, a
3M cross block, and the ultrasonic sensor and connect them, as shown in
Figure 12.18.

Figure 12.18
 Building Alarm Bot 271

Step 2: Place the ultrasonic sensor on its side, push an 8M cross axle with end
stop all the way through the 3M cross block, and then lock the 8M cross axle
with end stop into place using a half-bushing, as shown in Figure 12.19.

Figure 12.19

Step 3: Attach a connector peg with friction to each of the two design shells, as
shown in Figure 12.20, and then use the connector pegs with friction to connect
the two design shells to the ultrasonic sensor.

Figure 12.20
272 Chapter 12 n Alarm Bot

Step 4: Connect the ultrasonic sensor subassembly to the robot by inserting the
open end of the 8M cross axle with end stop into the crosshair connection
located in the center of the servo motor’s upper side, as shown in Figure 12.21.

Figure 12.21

Preparing the Color Sensor

Alarm Bot’s color sensor subassembly is the last component required to finish
building the robot.
Step 1: Connect a connector peg with friction and a 3M connector peg with
friction and a cross axle to the 2  4 perpendicular beam, and then connect the
3M straight beam to a 3M connector peg with friction, as shown in Figure 12.22.

Figure 12.22
 Building Alarm Bot 273

Step 2: Connect the 2  4 perpendicular beam to the 3M straight beam by

inserting one end of the 3M Connector Peg into the hole located in the foot of
the 2  4 Perpendicular beam, and then connect the resulting component to the
color sensor, as shown in Figure 12.23.

Figure 12.23

Step 3: Connect the color sensor subassembly to the robot, as shown in

Figure 12.24.

Figure 12.24
274 Chapter 12 n Alarm Bot

Hint
Figure 12.25 shows how Alarm Bot looks after it is fully assembled.

Figure 12.25

Completing Alarm Bot’s Assembly

Now that Alarm Bot is completely assembled, all that remains is to connect the
servo motor and the sensors to the NXT Brick. To do so, take a 35 cm/14-inch
cable and attach one end of it to the ultrasonic sensor and the other end to the
number 4 port on the NXT Brick. Next, take another 35 cm/14-inch cable and
use it to connect the color sensor to the number 3 port on the NXT Brick. Lastly,
use another 35 cm/14-inch cable to connect the servo motor to the NXT Brick’s
A port. See Figure 12.26.
 Building Alarm Bot 275

Figure 12.26

Programming Alarm Bot

Now that you have finished the construction of Alarm Bot, it’s time to begin
work on the NXT-G program that controls its operation. This program is made
up of program blocks located on two separate sequence beams, both of which
are controlled by loops. The program blocks on the first sequence beam control
the operation of the ultrasonic sensor, collecting and analyzing its input and
generating an alarm if an intruder is detected. The program blocks on the
second sequence beam control the operation of the robot’s servo motor, making
it rotate the ultrasonic sensor 360 degrees forward and then 360 degrees
backward, over and over again.
As has been the case with all previous robotic development projects, Alarm Bot’s
NXT-G program will be developed in a series of stages. In the first stage, the
program logic that manages the collection and analysis of ultrasonic data is
created. In the second stage, the program logic that controls the operation of the
276 Chapter 12 n Alarm Bot

servo motor is developed. The third stage of the NXT-G program’s development
involves the addition of comments that document the NXT-G program and its
operation.

Stage 1—Programming the Operation of the Ultrasonic Sensor

As previously stated, the first stage in the development of the NXT-G program
involves the operation of the ultrasonic sensor. All programming logic develop-
ment in this state is done on the program’s main sequence beam. Begin by
creating a new NXT-G program called Alarm_Bot.
Begin program development by dragging and dropping a Color Lamp block
onto the main sequence beam. Select and configure the block as follows:
n Port—Select the number 3 port.
n Action—Disable the display of light on the color sensor by selecting the
Off option.
n Color—Leave the default Red color selected.
Next, drag and drop a Loop block onto the main sequence beam, placing it after
the Color Lamp block. Select the Loop block and configure it as follows:
n Control—Create an endless loop by selecting the Forever option from
the drop-down list.
n Show—Leave the Counter option unselected.
Add an instance of the Switch Sensor block inside the Loop block. Select the
Switch block and configure it as follows:
n Control—Select Sensor from the drop-down list.
n Sensor—Select Ultrasonic Sensor from the drop-down list.
n Display—Leave the default Flat view option enabled.
n Port—Select the number 4 port.
n Compare—Set the distance option to less than 48 inches.
n Show—Select Inches from the drop-down list.
 Building Alarm Bot 277

Add a second loop to the main sequence beam, placing it within the upper half
of the Switch block. Programming blocks in the upper half of the Switch block
execute whenever the robot detects an intruder. Select it and configure it as
follows:
n Control—Select Count from the drop-down list.
n Until—Configure the loop to repeat two times every time it is executed
by typing a value of 2 in the Count entry field.
n Show—Leave the Counter option unselected.
Drag and drop another Color Lamp block onto the main sequence beam, placing
it with the loop located in the upper half of the Switch block. Select and
configure the Color Lamp block as follows:
n Port—Select the number 3 port.
n Action—Turn on the sensor lamp by selecting the On option.
n Color—Select the green lamp color.
Drag and drop a second Color Lamp block into the upper half of the Switch
block. Select and configure the Color Lamp block as follows:
n Port—Select the number 3 port.
n Action—Turn on the sensor lamp by selecting the On option.
n Color—Select the blue lamp color.
Drag and drop a third Color Lamp block into the upper half of the Switch block.
Select and configure the Color Lamp block as follows:
n Port—Select the number 3 port.
n Action—Turn on the sensor lamp by selecting the On option.
n Color—Select the red lamp color.
Drag a Sound block into the upper half of the Switch block. Select and configure
the Sound block as follows:
n Action—Select Sound File.
278 Chapter 12 n Alarm Bot

n Control—Select Play.
n Volume—Set value level to 100 percent.
n Function—Ensure that Repeat is not selected.
n File—Select Alarm from the list of files in the scrolling list box.
n Wait—Select Wait for Completion.
Drag another Sound block into the upper half of the Switch block. Select and
configure the Sound block as follows:
n Action—Select Sound File.
n Control—Select Play.
n Volume—Set value level to 100 percent.
n Function—Ensure that Repeat is not selected.
n File—Select Object Detected from the list of files in the scrolling list box.
n Wait—Select Wait for Completion.
Finally, drag and drop one more Color Lamp block onto the bottom half of the
Switch block. This block executes when the robot does not detect an intruder.
Select the Color Lamp block and configure it as follows:
n Port—Select the number 3 port.
n Action—Turn on the sensor lamp by selecting the Off option.
n Color—Select the red lamp color.
Figure 12.27 shows how the programming logic outlined in the program’s loop
should look at this point in the NXT-G program’s development.
Before moving on to the next stage of the NXT-G program’s development, take a
little time to test the robot and make sure that when the NXT-G program runs
its ultrasonic sensor operates properly. Start by saving the program. Next,
connect the robot (e.g., the NXT Brick) to your computer and download the
program by clicking on the NXT Download button located at the bottom right
corner of the work area. Disconnect Alarm Bot, place it in the center of the room
with no other obstacles within 48 inches of the direction that the ultrasonic
sensor is pointing. Press the NXT Brick’s orange button four times to select and
 Building Alarm Bot 279

Figure 12.27
These programming blocks manage the operation of the robot’s ultrasonic sensor.

run the NXT-G program. Nothing should happen. Next, move within 48 inches
of the front of the ultrasonic sensor. It should detect you and signal the alarm.
Move out of range of the ultrasonic sensor and the alarm should stop sounding.
If Alarm Bot does not perform as expected, go back and review each of the
programming blocks that you added to the program and ensure that their
configuration matches up with the configuration settings specified for each
block. If you find any errors in block configuration, correct the errors and then
download and retest the robot again.

Stage 2—Programming the Operation of the Ultrasonic Sensor

Stage 2 of the development of the Alarm_Bot program involves the incorpo-
ration of programming logic that repeatedly rotates the ultrasonic sensor,
allowing it to detect intruders within a full 360-degree radius of the robot.
Begin by extending the NXT-G program’s lower sequence beam down three
inches and then drawing it to the right two more inches. Next, drag and drop a
Loop code block onto the lower sequence beam. Select and configure the Loop
block as follows:
n Control—Create an endless loop by selecting the Forever option from
the drop-down list.
280 Chapter 12 n Alarm Bot

n Show—Leave the Counter option unselected.

Next, drag and drop a Motor block onto the lower sequence beam’s Loop block.
Select the Motor block and configure it as follows:
n Port—Select the A port.
n Direction—Set direction to Forward.
n Action—Select Constant from the drop-down list.
n Power—Set the power level to 20.
n Control—Leave the Motor Power option disabled.
n Duration—Set duration to 360 degrees.
n Wait—Make sure the Wait for Completion option is selected.
n Next Action—Select the Brake option.
Lastly, drag and drop a second Motor block onto the lower sequence beam’s
Loop block. Select the Motor block and configure it as follows:
n Port—Select the A port.
n Direction—Set direction to Backward.
n Action—Select Constant from the drop-down list.
n Power—Set the power level to 20.
n Control—Leave the Motor Power option disabled.
n Duration—Set duration to 360 degrees.
n Wait—Make sure the Wait for Completion option is selected.
n Next Action—Select the Brake option.
At this point, you have completed the development of the NXT-G program’s
programming logic. Figure 12.28 shows how the program should now look.
It’s a good idea to test the updates you just made to the NXT-G program before
moving on to the last stage of the NXT-G program’s development. To do so,
start the program and connect the robot (e.g., the NXT Brick) to your computer
and download the program by clicking on the NXT Download button located at
the bottom right corner of the work area.
 Building Alarm Bot 281

Figure 12.28
The Alarm_Bot program now uses the sensor motor to rotate the ultrasonic sensor.

Next, disconnect Alarm Bot and place it in the center of the room with no other
obstacles within 48 inches of the direction that the ultrasonic sensor is pointing.
Press the NXT Brick’s orange button four times to select and run the NXT-G
program. Nothing should happen. However, when you move within 48 inches of
the front of the ultrasonic sensor from any direction, it should detect you and
signal the alarm, and when you move out of range of the ultrasonic sensor, the
alarm should stop sounding.

Stage 3—Documenting Your NXT_G Program

The last stage in the development of Alarm Bot is to document the NXT-G
program through the addition of comments that explain the program’s purpose
and operation. This is easily accomplished through the addition of the com-
ments shown in Figure 12.29.
That’s everything! Before you put this book down and move on to other things,
spend a little more time playing with and testing the operation of Alarm Bot.
Once you are confident that everything works correctly, show it off to your
family and friends.
282 Chapter 12 n Alarm Bot

Figure 12.29
The final version of the Alarm_Bot NXT-G program.

Summary
In this chapter, you learned how to create the book’s final robot development
project, Alarm Bot. This robot sounds an alarm whenever it detects an object
within four feet of it. In doing so, you gained practical experience working with
the ultrasonic sensor, which is mounted on top of an 8M cross axle and
repeatedly rotated a full 360 degrees in order to allow the robot to detect
intruders approaching from any direction. You also learned how to work with
the color sensor as a lamp, displaying a series of different colored lights
whenever an intruder is detected and the alarm is sounded.
 Appendix A

What’s on the Companion

Web Site?

Congratulations on making it all the way to the end of this book. At this point
you should have a solid understanding of how to use Lego Mindstorms NXT 2.0
to create and program all kinds of exciting robotic creations. With this
foundation now in place, you are well positioned to continue the development
of your robotic design and program development skills.
There is plenty left to learn, so don’t look at completing this book as the end of
your education, but rather consider it to be the beginning. To join the ranks of
advanced robotic developers, you need to keep learning everything you can
about Lego Mindstorms NXT 2.0, and most importantly, you need to keep
experimenting and building all kinds of new robotic creations. The only limit to
what you can do is your own imagination.
As you continue to experiment and try your hand with different robotic
creations, you will amass quite an inventory of creation and NXT-G source
code. You can use the designs and source code that you create as the basis for
even more complex and challenging creations. This way, you can borrow design
ideas and source code and use them to model new creations based on existing
ones. This will save you a lot of time, sweat, and tears because you won’t have to
reinvent the wheel every time you begin a new development project.
Assuming that you have re-created all of the robotic creations that have been
presented in this book, you should already have a lot of good experience
designing and programming your creations. You should faithfully document

283
284 Appendix A n What’s on the Companion Web Site?

and add to this collection every time you create a new project. You’ll come to
appreciate the advantages and time savings from practicing this habit and will
come to view these resources as indispensible.

Downloading the Book’s Source Code

This book is most effectively used when you take the time to re-create all of its
development examples. The hands-on experience that you gain by doing this
will greatly improve your working knowledge of robotic development. However,
in the event you did not have the time to re-create every example that was
presented, you can download the missing project source code for these projects
from the book’s companion web page, located at http://www.courseptr.com/
downloads. Of course, to use them you’ll need to re-create their robotic
counterparts or modify the source code to meet the needs of some new project.
Table A.1 provides a brief explanation of the development projects that you will
find on the companion web site.

Table A.1 Source Code Available on the Companion Web Site

Chapter Program File

Chapter 9 Go_Bot.rbt
Chapter 10 Tracker_Bot.rbt
Chapter 11 Detect_Bot.rbt
Chapter 12 Alarm_Bot.rbt
 Appendix B

What’s Next?

As you no doubt have learned, robotic development and programming are not
only challenging but a whole lot of fun. While this book has taught you a lot
about Lego Mindstorms NXT 2.0 and how to use it to develop all sorts of robotic
creations, there is a lot more to this development framework than can possibly
be covered in any one book. The purpose of this appendix is to provide you with
a collection of online resources to which you can turn for more information
about Lego Mindstorms NXT 2.0. In addition, you will find resources listed for
Lego in general and LDraw, the CAD (Computer Aided Design) software used
in this book to generate 3D images and design instructions. With it, you can
create documentation for your own robotic creations.

Locating Lego Mindstorms Resources Online

There is a lot of information about Lego Mindstorms NXT 2.0 available on the
Internet if you know where to look for it. To help you get started, this appendix
provides you with a list of essential web sites that you should frequent regularly
in order to keep abreast of the latest information on Lego, Lego Mindstorms
NXT 2.0, and LDraw.

The Lego Mindstorms Web Site

The official Lego Mindstorms web page is located at http://mindstorms.lego.
com, as shown in Figure B.1. This site provides extensive information on Lego

285
286 Appendix B n What’s Next?

Figure B.1
The Lego Mindstorms web site provides information and hosts activities and communication for a global
community of Mindstorms enthusiasts.

Mindstorms NXT 2.0. You can sign up for a free Lego Mindstorms newsletter
and participate in different building challenges. You can watch short movies,
view fan-built projects, post and read questions and answers on forums, and
even download free sounds for use in your projects.

The Open Directory Project’s Mindstorms Page

Another excellent source for information on Lego Mindstorms NXT 2.0 is the
Mindstorms web page at the open directory project, located at http://www.dmoz
 Locating Lego Mindstorms Resources Online 287

Figure B.2
The Mindstorms page at the open directory project.

.org/Kids_and_Teens/Sports_and_Hobbies/Toys/Lego/Mindstorms//, as shown
in Figure B.2. Here you will find links to all kinds of topics.

The NXT Step—Lego Mindstorms NXT Blog

Another great way of keeping abreast of the latest happenings with Lego
Mindstorms NXT 2.0 is to regularly visit the NXT Step—Lego Mindstorms
NXT Blog available at http://thenxtstep.blogspot.com/ as shown in Figure B.3.
288 Appendix B n What’s Next?

Figure B.3
This blog facilitates an ongoing global conversation for Lego Mindstorms NXT enthusiasts.

The site also provides access to the NXT STEP Forum, where you can participate
in a host of different types of discussions.

The nxtprograms.com Web Site

The nxtprograms.com web site, shown in Figure B.4, provides you with access to
instructions for building all kinds of robotic creations. Each project comes
 Locating Lego Mindstorms Resources Online 289

Figure B.4
Visit this site to get free instructions for building all kinds of different robots.

complete with color building instructions. You can even download the programs
needed to bring these robots to life.

The Wikipedia Lego Mindstorms NXT 2.0 Page

The Wikipedia Lego Mindstorms NXT 2.0 page, shown in Figure B.5, is located
at http://en.wikipedia.org/wiki/Lego_Mindstorms_NXT_2.0. It provides a good
overview of Lego Mindstorms NXT 2.0 and is a great source of references and
links to online content, including articles and links to other web sites.
290 Appendix B n What’s Next?

Figure B.5
The Wikipedia Lego Mindstorms page is developed and maintained by a worldwide community of robotic
developers dedicated to sharing information.

The nxtasy.org Site

The nxtasy.org web site (http://nxtasy.org/), shown in Figure B.6, is dedicated to
being a source of news and information exchange for Lego Mindstorms NXT
users. It is rich with technical information and discussion. It also hosts different
challenges—worldwide competitions that you can participate in. This site also
hosts a forums area where you can post and read information shared among
thousands of Lego Mindstorms enthusiasts.
 Buy New Lego Mindstorms NXT Parts 291

Figure B.6
Be sure to check out the Forums section at nxtasy.org.

Buy New Lego Mindstorms NXT Parts

If any of the electronic pieces belonging to your Lego Mindstorms NXT 2.0 kit
break and need to be replaced or if you find yourself working on projects that
require more electronic parts than came with the kit, you can purchase what you
need from the Lego Shop located at http://shop.lego.com. Once there, do a
search on Mindstorms and you’ll see a listing of all available parts as
demonstrated in Figure B.7. In addition, you can also purchase sensors not
supplied with your kit. These sensors include the gyroscopic sensor, infrared
sensor, accelerometer sensor, compass sensor, sound sensor, and light sensor.
292 Appendix B n What’s Next?

Figure B.7
If you need more parts than came with your kit, you can buy them from the Lego Shop.

Lego Resources
While you can create untold number of robots using just the pieces and parts
that come with the Lego Mindstorms NXT 2.0 kit, there is no reason for you to
limit yourself to just these resources. If you want, you can incorporate other
types of Lego blocks and pieces into your creations, further expanding the types
of things you can build.

The Lego Web Site

While this book has provided you with a lot of good information on Lego
Mindstorms NXT 2.0, it has not focused much on the rest of the Lego Universe,
 Lego Resources 293

Figure B.8
There is no reason that you could not incorporate regular Lego blocks into your robotic creations.

which is amazingly extensive. To learn more about Lego, you should visit http://
www.lego.com, as shown in Figure B.8. Here you will find information about
Lego bricks, play sets, Mindstorms, and much more.

Lego Club
There is no better way to stay in touch with the greater Lego community than by
joining the Lego Club, located at http://club.lego.com, as shown in Figure B.9.
294 Appendix B n What’s Next?

Figure B.9
The Lego club is the place where Lego lovers around the world congregate and share information.

Here you can play games, post and read questions and answers on the site’s
message boards, and sign up for the free club magazine.

The Lego Page at Wikipedia

Another source of information for Lego is the Lego Page at Wikipedia (http://en.
wikipedia.org/wiki/Lego (http://en.wikipedia.org/wiki/Lego), shown in Figure B.10.
Here you will find historical information about Lego as well as references to tons of
online resources and Lego books.
 Developing Instructions for Your Robotic Creations 295

Figure B.10
Wikipedia’s Lego page provides an excellent historical overview of Lego’s origins.

Developing Instructions for Your Robotic

Creations
If you want to document your own Lego robotic creations, one option is to use
LDraw. LDraw is a free CAD-like software application that can be used to model
Lego creations in 3D. Alternatively, you can use the LEGO Digital Designer
program.
296 Appendix B n What’s Next?

Wikipedia’s LDraw Page

Wikipedia’s LDraw page (http://en.wikipedia.org/wiki/Ldraw), shown in
Figure B.11, provides an overview of LDraw. This site provides a good overview
of the different software components that make up LDraw and provides
information about books that cover LDraw.

Figure B.11
Wikipedia’s LDraw page provides a good overview of LDraw.
 Developing Instructions for Your Robotic Creations 297

LDraw.org
LDraw’s main web site is www.ldraw.org, as shown in Figure B.12. This site
provides a history of LDraw and provides information about books, online
resources, and all things LDraw. You can download and install LDraw from this
site. Instructions are provided for installing LDraw. There are also tutorials that
you can read to learn all about LDraw and its operation.

Figure B.12
LDraw.org is central headquarters for keeping up with all things related to LDraw.
298 Appendix B n What’s Next?

Figure B.13
LEGO Digital Designer is easy to install and operate.

LEGO Digital Designer

LEGO Digital Designer, or LDD, is a free CAD program developed by Lego
Group. As shown in Figure B.13, you can download a copy of it at http://ldd.
lego.com/download/. It works on both Microsoft Windows and Mac OS X.

The Author’s Web Site

If you enjoyed this book and are interested in learning about other game
developer options or other programming languages, visit my web site located at
 The Author’s Web Site 299

Figure B.14
Visit www.tech-publishing.com to learn more about game development and to provide your feedback
on this book.

http://www.tech-publishing.com, as shown in Figure B.14. While you are there,

drop me a message to let me know what you think of the book or how you think
it might be improved.
This page intentionally left blank
 Glossary

Angle Connector. Used to connect two axles and to create 90- or 180-degree
connections.
Angular Beam. A beam in which one or more sections are angled.
Attributes. Programming block properties or modifiers that can be configured
to customize the programming block’s execution.
Axle. A cross-shaped shaft that can be used to connect to any Mindstorms piece
that has a cross-hole connection.
Block Import and Export Wizard. A utility program that provides the ability
to import new programming blocks and to export custom-developed
programming blocks.
Bluetooth. A wireless networking technology that can be used to wirelessly
download your NXT-G programs into the NXT Brick.
Bluetooth Connection Block. A programming block that establishes a con-
nection to another Bluetooth device or disables/enables Bluetooth function-
ality.
Bushing. Used to hold an axle firmly in position, locking other pieces that may
be connected to the axle in place.
Calibrate Block. A programming block that calibrates the minimum and
maximum values detected by sound/light sensors.

301
302 Glossary

Calibrate Sensors. A utility program that facilitates the re-calibration of sensors

to tune their operations.
Catch with Cross-hole Connector. Connects axles that intersect perpendicu-
larly.
Color Lamp Block. A programming block that controls the Color Sensor’s
lamp function, emitting red, green, or blue light.
Color Sensor. Provides robots with the ability to detect different colors and
light, and to generate light.
Color Sensor Block. A programming block that enables the detection of
different colors and the measurement of light intensity.
Comb Wheel. Connects up to four axles and can be used in various ways, as a
stabilizer for axles or as an attachment that extends the effects of gears.
Comments. Text strings added to NXT-G programs for the purpose of
documenting the programs.
Common Palette. A tab on the Programming palette that contains the most
commonly used programming blocks.
Compare Block. A programming block that determines if a number is greater
than, less than, or equal to another number.
Complete Palette. A tab on the Programming palette that provides access to all
programming blocks.
Conditional Logic. The process of executing sets of programming blocks based
on whether or not a tested value evaluates as true.
Configuration Panel. A window that displays and allows you to customize the
operation of the programming block, modifying both input and output and
other attributes and actions.
Conical Gear. A gear whose teeth are shaped to allow them to mesh with one
another when mounted on a parallel axis or when mounted perpendicular to
one another.
Connector. Allows you to connect and tie together different Mindstorms pieces
into a cohesive whole.
Constant Block. A programming block that returns a value stored in a
constant.
 Glossary 303

Create Pack and Go. A utility program that creates a Pack and Go file
facilitating development functions like My Blocks, Display Blocks, and
Sound Blocks with other NXT developers.
Cross Axle Extension. Connects two axles in order to establish a longer axle.
Cross Block. A Lego Mindstorms NXT 2.0 piece that combines circular and
cross-hole connections.
Custom Palette. A tab on the Programming palette that provides access to
blocks that you create or upload into Mindstorms NXT 2.0.
Data. A piece of information collected, stored, modified, and processed during
application execution.
Data Hub. A projection that slides down from the bottom left side of a
programming block which contains one or more data plugs that allow the
programming block to send and receive data.
Data Wire. A connection between one block’s output data plug and another
block’s input data plug.
Developer Profile. An organizational mechanism whereby NXT-G pro-
grammers are only presented with programs that they develop.
Display Block. A programming block that displays text, shapes, and images on
the NXT Brick’s LCD.
Driven Gear. The last gear in the gear train.
Driver Gear. The gear that is responsible for transferring motion to the other
gears in a gear train.
Endless Loop. A loop that does not have a predefined means of terminating its
own execution.
File Access Block. A programming block that saves data to files on your NXT
Brick.
FIRST LEGO League (FLL). A worldwide robotic design competition started in
1999 for the purpose of getting children interested in science and technology.
Flexible Axle Damper 2M Connector. Connects axles that run in parallel;
supports robotic creations that require flexibility.
304 Glossary

Flow. The order in which program blocks are executed within a NXT-G
program.
Flowchart. A graphical depiction of some or all of a program’s logic.
Friction Peg. A peg that firmly holds its position within a round hole.
Gear. Used to transmit motion (five different types of gears).
Gear Ratio. Describes the rotation of the driver gear relative to the driven gear.
Gear Train. The use of two or more gears together.
Gearing Down. Occurs when you either decrease the size of the driver gear or
increase the size of the driven gear.
Gearing Up. Occurs when you either increase the size of the driver gear or
reduce the size of the driven gear.
IDE (Integrated Development Environment). A graphical application devel-
opment environment designed to facilitate program development.
Idler Gear. Gears located between the driver gear and the driven gear in a great
train.
Image Editor. A utility program that lets you convert and download graphic
files onto your NXT Brick, where they can then be loaded and displayed on
the Brick’s LCD screen.
Input Data Plug. Used to accept data passed to the programming blocks.
Integrated Development Environment (IDE). A collection of computer pro-
grams that execute from a single user interface.
Keep Alive Block. A programming block that prevents the NXT Brick from
going to sleep.
Knob Gear. A gear with four circular knobs that rotate around its axis.
Lego Mindstorms NXT. A robotics kit developed by Lego in 2006, which was
the predecessor to the Lego Mindstorms 2.0 kit.
Lego Mindstorms NXT 2.0. A robotics kit developed by Lego in August 2009.
Light Sensor Block. A programming block that detects ambient light.
Liquid Crystal Display (LCD). A monochrome display on the NXT Brick that
is 100 pixels wide by 64 pixels high.
 Glossary 305

Little Help Window. Displays information about the currently selected object
as well as a link to additional information about the object in the Lego
Mindstorms NXT 2.0 help file.
Logic Block. A programming block that reviews inputs and returns a true/false
value.
Logic Data. A term used to represent data that has either of two values: true or
false.
Loop. A collection of one or more programming blocks that are repeatedly
executed.
Loop Block. A programming block that repeats the execution of specified
programming blocks.
Magazine. Holds balls for using with robots that shoot.
Math Block. A programming block that performs arithmetic, subtraction,
multiplication, and division operations.
Mesh. The interlocking of gear teeth that facilitates the transference of motion
between gears.
Microcomputer. A small digital computer designed to be used by one person at
a time.
Module. A unit of measurement (8mm) that is used to identify the length of
beams and other parts.
Motor Block. A programming block that provides precise control of a motor’s
speed.
Move Block. A programming block that moves a robotic creation forward or
backward.
My Block. A collection of one or more customized programming blocks that
perform a specific task.
My Portal. A window that provides a gateway to the http://www.mindstorms.
com web site, providing access to information on new models, program files,
and sound and image files.
Number to Text Block. A programming block that takes a number and turns it
into a displayable text string.
306 Glossary

NXT Brick. A programmable microcomputer that controls the operations of

robotic creations.
NXT Buttons Block. A programming block that sends true value through a
data wire whenever a NXT button is activated.
NXT Controller. A utility program that transfers program and data files to
your NXT Brick, starts and stops NXT-G programs, and changes NXT Brick
settings.
NXT-G. The programming language supplied by Lego for developing programs
that execute on the NXT Brick.
NXT-G Program. A computer program created by dragging and dropping
different programming blocks onto the work area. Every new NXT-G
program starts out with a Starting Point sequence beam.
NXT Window. Manages NXT Brick memory and connections to the NXT
Brick.
Output Data Plug. Used to pass data to other programming blocks.
Peg. Connects beams and other types of pieces that have holes.
Peg Block. A highly specialized type of peg that combines features of beams and
pegs, having circular holes that run in multiple directions, facilitating parallel
and perpendicular connections.
Programming Blocks. The basic building blocks used to outline the program-
ming logic that makes up a NXT-G program.
Programming Palette. The windows on which programming blocks are stored
and organized.
Pseudo Code. An English-like outline of some or all of the logic involved in the
development of a computer program.
Random Block. A programming block that generates a random number.
Range Block. A programming block that determines whether a number is
inside a range of numbers.
RCX. A microcomputer supplied with the Robotics Invention System (RIS).
Receive Message Block. A programming block that enables the receipt of
wireless messages.
 Glossary 307

Record/Play Block. A programming block that records an action manually

performed with a robotic creation and then allows that action to be replayed.
Remote Control. A utility program that allows you to control your robotic
creations from your computer, controlling both speed and direction.
Reset Motor Block. A programming block that disables the automatic error
correction for servo motors.
Rim. Attaches directly to axles and transfers motion passed through axles to
either tires or tracks.
RJ12 Connector. A cable used to connect a sensor or servo motor to the NXT
Brick.
Robo Center. An IDE window that provides access to building instructions for
creating different types of robots.
Robotics Invention System (RIS). A robotics kit developed by Lego in 1998.
Rotation Sensor Block. A programming block that counts the number of
degrees or the number of rotations that a motor turns.
Send Message Block. A programming block that is used to send a wireless
message to your NXT Brick via a Bluetooth connection.
Sequence Beams. Connectors used in the formulation of NXT-G programs that
allow programming blocks to be connected to the Starting Point.
Servo Motor. Provides robots with the ability to move and grasp things.
Shooter. Provides a means of shooting balls.
Smooth Peg. A peg that moves freely within round holes.
Sound Block. A programming block that instructs the NXT Brick to play a
sound file.
Sound Editor. A utility program that allows you to convert sound files on your
computer into a format supported by the NXT Brick.
Sound Sensor Block. A programming block that detects sounds and reports on
sound level.
Starting Point. An object located on the left side of the work area that marks
the beginning of all NXT-G programs.
308 Glossary

Steering Link. Establishes a connection with either the friction ball peg or the
smooth axle ball peg.
Stop Block. A programming block that halts program execution and any
running motors.
Stop Ridge. A notch on an axle or peg that determines how far an axle or peg
can go into a hole.
Straight Beam. A Lego Mindstorms NXT 2.0 piece that is perforated with
circular holes which run down the middle of the beam and which has a
smooth exterior and rounded ends.
String. A set of characters that can be passed between programming blocks and
displayed on the NXT Brick’s LCD.
Switch Block. A programming block that chooses between two alternate
courses of action based on the analysis of sensor or input value.
T-Beam. A beam that is T-shaped and is 3M wide and 3M tall.
Tachometer. A component within a sensor motor that precisely controls the
rotation of the motors.
Text Block. A programming block that adds text strings together in order to
create a longer text string.
Timer Block. A programming block that reads the timer’s current value or
restarts the timer.
Tire. Used to create cars and any other type of wheeled vehicle or machine
(tires are made to fit snuggly around the rims).
Touch Sensor. Provides robots with a sense of touch, allowing them to feel and
react to things around them.
Touch Sensor Block. A programming block that sends a true/false signal
through a data wire based on the current condition of a touch sensor.
Track. Ribbed rubber banks used to make things like tanks, construction
vehicles, and other machines.
Ultrasonic Sensor. Provides robots with the ability to see objects and to
determine their distance.
 Glossary 309

Ultrasonic Sensor Block. A programming block that establishes a connection

to another Bluetooth device.
Update NXT Firmware. A utility program that provides the ability to update
the NXT Brick’s firmware to the most current version, allowing you to take
advantage of any improvements made by Lego.
Variable. A location in memory where an individual piece of data is stored.
Variable Block. A programming block that reads or writes variable values.
V Belt. A small rubber band that can be used to loosely bind pieces together.
Wait Block. A programming block that pauses NXT-G program execution.
Web Block. A My Block that someone else has developed and which you have
downloaded from the Internet.
Work Area. The large, gray, gridded area where NXT-G programs are defined.
Work Area Map. Allows you to quickly navigate the work area by clicking and
holding down the left mouse button on any area within the work area map
window and then move the cursor to a new area.
This page intentionally left blank
 INDEX

A ultrasonic sensor assembly, basic description of, 21

absolute value operation, 178 270–272 importing blocks using, 34–35
accelerometer sensor, 64 ultrasonic sensor operation blocks. See programming blocks
Action attribute, programming programming, 276–279 blog, 287–288
block And operation, 176 Bluetooth Connection
Calibrate, 191 angle connectors, 81–82 programming block, 118, 192
Color Lamp, 173 angular beams, 75–76 Bluetooth icon (Brick LCD
Constant, 185 animals, 25 display), 58–59
Display, 149 attributes, programming block Bluetooth menu (NXT Brick), 63
File Access, 189 Calibrate, 190–191 breaking, 143
Loop, 156 Color Lamp, 172–173 Brick. See NXT Brick
Record/Play, 144 Constant, 185–186 bushing, 78–79
Sound, 146 description, 121–123
Switch, 159 Display, 147–150
Touch Sensor, 174 File Access, 189–190 C
Variable, 184 Loop, 153–156 cable
Wait, 153 Motor, 170–172 length, 69–70
action programming blocks, Move, 140–143 replacement, 69–70
112–113 Record/Play, 143–145 RJ12 connectors, 69–70
activation, robot, 13 Sound, 145–147 CAD (Computer Aided Design),
adapter, 55–56 Switch, 156–159 285
adapter, Bluetooth, 55–56 Variable, 183–184 Calibrate programming block,
addition operation, 178 Wait, 150–153 118, 190–191
advanced programming blocks, author web site, 298–299 Calibrate Sensors window
115, 118, 186 axle, 77–78 accessing, 30
Alarm Bot basic description of, 19
color sensor preparation, 272–274 calibrating sensors using,
documenting the, 281
B 29–30
eight step process to building, backup, 43 environmental condition effects,
260–261 batteries, NXT Brick, 52–54 managing, 29–30
framework base assembly, Battery Level indicator icon calibration, sensor, 30–31
261–263 (LCD display), 60 Catch with Cross-hole connector,
introduction to, 259–260 beams. See also sequence beam 84–85
parts inventory list, 262 angular, 75–76 chassis, 210–212
platform, adding to NXT Brick, list of, 72 Clear/Go Back button, NXT
264–265 straight, 72–75 Brick, 58
programming logic, 279–281 T-beam, 77 Close file action, 189
programming the, 275–281 uses of, 72 color
servo motor connections, Block Import and Export Wizard angular beam, 76
268–269 window NXT Brick, 52
support struts, 266–267 accessing, 34 straight beam, 72, 74

311
312 Index

Color Lamp programming block Loop, 153–155 Custom palette programming

Action attribute, 173 Math, 178 blocks, 115, 192
basic description of, 113, 172 Motor, 170–171 Custom Palette tab, 22
Color attribute, 173 Move, 140–141
Port attribute, 173 Random, 182
color sensor Range, 181 D
Alarm Bot assembly, 272–274 Record/Play, 143–144 data hub
basic description of, 65–66 Reset Motor, 191 accessing, 162
Tracker Bot development, Sound, 145–146 defined, 122, 162
226–227 Switch, 157 hiding, 162
Color Sensor programming Text, 187 input data plug, 162–164
block, 115 uses for, 23 output data plug, 163–164
comb wheel, 92 Variable, 183 resized, 164
commands Wait, 150–151 Data programming blocks, 114,
Edit menu, 18–19 conical gears, 86–87 117, 175–186
File menu, 18, 20 Connections button (Remote Data Type attribute, 186
Help menu, 21 Control window), 41 data type mismatch, 166
Comment Tool button, 135–136 connections, NXT Bricks, 41–42 data wires
comments Connections submenu, 63 Actions programming blocks,
adding to program, 135–137 connectors 170–173
deleting, 136 angle, 81–82 Advanced programming blocks,
editing, 136 axles, 77–78 186–192
Info: text box, 137 bushings, 78–79 basic description of, 112, 123,
moving, 136 Catch with Cross-hole, 84–85 161–162
program example of, 136 Cross Axle Extension, 84–85 connecting programming blocks
program logic, 135 cross blocks, 83 with, 163–164
text, 136 Flexible Axle Damper 2M, 84–85 data plug and compatibility,
as way of documenting list of, 77 determining, 165
assumptions, 135 peg blocks, 83 Data programming blocks,
Common palette programming pegs, 79–80 175–186
blocks, 109–112, 139–140 steering link, 82–83 data type mismatch, 166
Common Palette tab, 22 Constant programming block Datalog files submenu, 61
Communications tab, 41–42 Action attribute, 185 debugging, 198–199
Community, Lego Mindstorms, basic description of, 117 delayed program execution, 44–46
14–16 configuration panel, 185 Delete file action, 189
companion web site, 283–284 Data Type attribute, 186 Delete files submenu, 63
Compare programming block defining constants, 184 deleting
basic description of, 117 Name attribute, 186 comments, 136
comparison operations, 179 Value attribute, 186 data wire, 163
configuration panel, 178–179 Control attribute developer profile, 105
compass sensor, 64 Loop programming block, 155 My Block, 196–197
competition, robot design, Sound programming block, 146 programming blocks, 124
15–16 Switch programming block, 158 Detector Bot
Complete palette programming Wait programming block, 152 documenting the, 256
blocks, 110–115 Controller. See NXT Controller five step building process,
Complete Palette tab, 22–23 coordinate system, 148 242–243
Computer Aided Design (CAD), copying programming introduction to, 241–242
285 blocks, 134 parts inventory list, 243
condition, program logic, 98 count loop, 154 program termination, enhancing
configuration panel, programming Create Pack and Go window the, 255–256
block accessing, 34 programming the, 251–256
basic description of, 22–23 basic description of, 21 screens, connecting to assembly,
Calibrate, 190 shared customized block’s 245–246
Compare, 178–179 function, 34 support beams, 247–248
Constant, 185 Cross Axle Extension connector, touch sensor assembly,
Display, 148–149 84–85 connecting, 250–251
File Access, 188–189 cross blocks, 83–84 touch sensor data, incorporating
Logic, 175–176 custom functions, 192–198 and analyzing, 252–255
 Index 313

touch sensor for connection F introduction, 202

preparation, 244–245 feedback boxes, 141 left motor drive assembly,
touch sensor reach, extending, File Access programming block 205–207
248–249 Action attribute, 189 moving the, 215–217
developer profile basic description of, 118 NXT Brick preparation, 204–205
creating new, 104 configuration panel, 188–189 parts inventory list, 204
deleting, 105 File attribute, 189 programming the, 215–220
name, 104–105 Name attribute, 189 rear wheel chassis, 210–212
selecting a, 103 Text attribute, 190 remote control, 221–222
Direction attribute, 142 Type attribute, 189 right motor drive assembly,
Display attribute File attribute, programming block 208–209
Display programming block, 149 Display, 149 robotic development
Switch programming block, 158 File Access, 189 methodology, 202
Display block Record/Play, 145 sound, 217–220
Display programming block Sound, 146–147 steps to building the, 203
Action attribute, 149 file formats, 35 text display, 217–220
basic description of, 111–113 File menu commands, 18, 20 graphic
configuration panel, 148–149 file system, NXT Brick, 60–61 creating or editing in Image
Display attribute, 149 firmware Editor, 35–36
File attribute, 149 reinstalling, 43 opening, 35
graphic symbols, 147–148 updates, 31–33 smiley, 44
Position attribute, 150 Flexible Axle Damper 2M symbols, 147–148
Text attribute, 149 connector, 84–85 graphic file types, 35
Type attribute, 149 FLL (FIRST LEGO League) web graphical user interface (GUI), 18
division operation, 178 site, 15–16 Greater Than comparison
documenting flow control, 156–159 operation, 179
Alarm Bot program, 281 Flow programming blocks, 114, grid system display (Image
Detector Bot program, 256 116, 175 Editor), 36
Go Bot program, 220 flowchart, 98–100 GUI (graphical user interface), 18
instructions, 295–297 Ford, Jerry Lee Jr. (web site), gyroscopic sensor, 64
Tracker Bot program, 238 298–299
Download and run button, 24 forever loop, 154
Download and run selected forward movement, 140, 142
H
button, 24 friction pegs, 80 half-bushing connector, 78–79
Download button, 24 Function attribute, 146 hand crank, 89
downloading Hangman, 58
firmware update, 32 Help menu commands, 21
NXT-G program, 47–48 G hiding
program code, 13 gear ratio, 91 data hub, 162
Web Block, 197–198 gear train My Portal feature, 28
drawing area (in Image Editor), creation, 86–91 Robo Center feature, 28, 106–107
35 managing performance of, 91 humanoid, 25
drawing from one block to speed, 91
another, 163 torque, 91
drawing tools (Image Editor), gearing down, 91
I
35–36 gearing up, 91 icon
driven gear, 88 gears Magnifying Glass, 28
driver gear, 87–88 conical, 86–87 program, 11
Duration attribute, 143 cross-holes in, 86 spinning, 60
driven, 88 IDE (Integrated Development
driver, 87–88 Environment), 4–6
E idler, 88, 90 identifying broken, 166–168
Edit menu commands, 18–19 knob, 90–91 idler gears, 88, 90
editing My Block, 196–197 rotation, 86 Image Editor
endless loop, 154 types of, 84, 86 accessing, 35
Equals comparison operation, Go Bot basic description of, 21
179 assembly, 212–214 drawing area, clearing, 35
errors, 198–199 documenting, 220 drawing tools, 35–36
graphic file types, 35
314 Index

Image Editor (continued ) Lego Page at Wikipedia web site, My Files, 61

grid system display, 36 294 navigating between, 60–61
opening graphics in, 35 Lego web site, 292–293 NXT Datalog, 62
saving work in, 36 Lego.NET programming language, NXT Program, 61
import block, 34–35 12 opening, 60–61
Info: text box, 137 Lego:NXT programming Settings, 63
infrared sensor, 64 language, 12 Try Me, 64
input data plug, 162–164 Less Than comparison operation, View, 62–63
input ports, NXT Brick, 56–57 179 Mindstorms: Children, Computers,
installation license agreement, 8–9 and Powerful Ideas, 2
Mindstorms NXT software, 7–10 light sensor, 30–31, 64–65 Mindstorms icon (Brick LCD
Web Block, 197–198 Light Sensor programming display), 60
instructions block, 115 Mindstorms NXT software
animal creation, 25 List attribute, 183 description of, 4, 6
documenting, 295–297 Little Help window, 25–27 installation, 7–10
humanoid creation, 25 logic loop, 154 Readme file, 8–9
machine creation, 25 Logic programming block registration, 8
in Robo Center feature, 25 basic description of, 117 starting, 9
robot building, 11 configuration panel, 175–176 missing input, 166
vehicle creation, 25 Not operation, 177 module
Integrated Development And operation, 176 angular beam, 75
Environment (IDE), 4–6 Or operation, 176 straight beam, 72
Xor operation, 176 Motor Configuration window,
Logo, Lego, 46 38–39, 171
K Loop programming block motor drive, Go Bot assembly,
Keep Alive programming block, Action attribute, 156 205–209
118, 188 basic description of, 111–112, Motor programming block
kit 116 Action attribute, 171
components, 3–4 configuration panel, 153–155 basic description of, 113
development of, 2 Control attribute, 155 configuration panel, 170–171
example of pieces in, 5 loop demonstration, 156 Control attribute, 171–172
purchasing, 3 Port attribute, 156 Direction attribute, 171
USB cable, 13 Sensor attribute, 155 Duration attribute, 172
versions, 2 Show attribute, 155 Next Action attribute, 172
knob gear, 90–91 Port attribute, 171
Wait attribute, 172
M Move programming block
L Mac basic description of, 111–112
LCD Display window, NXT Brick, firmware updates, 33 configuration panel, 140–141
58–60 Mindstorm NXT software Direction attribute, 142
LDD (LEGO Digital Designer), installation, 9–10 Duration attribute, 143
298 machine creation instructions, feedback boxes, 141
LDraw page, Wikipedia, 296 25 Next Action attribute, 143
LDraw web site, 297 magazine, 92 Port attribute, 141–142
Left Arrow button, NXT Brick, 58 Magnifying Glass icon, 28 Power attribute, 143
left motor drive, Go Bot, 205–207 Manage Profiles dialog, 104 Steering attribute, 142
Lego Math programming block, 117, movement
Logo, 46 177–178 breaking, 143
Mindstorms NXT 2.0 release, 2 memory, NXT Brick, 42–43 coast to stop, 143
Robotics Invention System Memory tab (NXT window), direction, 142
(RIS), 2 42–43 duration, 143
Lego Club web site, 293–294 menu bar forward and reverse, 140, 142
LEGO Digital Designer (LDD), Edit menu, 18–19 power level, 143
298 File menu, 18, 20 straight line, 142
Lego Mindstorms Community, Help menu, 21 moving
14–16 Tools menu, 19, 21 comments, 136
Lego Mindstorms web site, 14, menus (NXT Brick) Go Bot development,
285–286 Bluetooth, 63 215–217
list of, 60–61
 Index 315

programming blocks to new memory, 42–43 execution, 48–49

location, 131–134 menus name, 43, 102–103
Tracker Bot development, Bluetooth, 63 opening existing, 101–102
233–236 list of, 60–61 overview, 6–7
multiplication operation, 178 My Files, 61 program block combinations,
My Block programming blocks navigating between, 60–61 6–7, 12
basic description of, 115, 118–119 NXT Datalog, 62 program code, downloading, 13
creating, 193–195 NXT Program, 61 program development and
deleting, 196–197 opening, 60–61 execution, 96–97
editing, 196–197 Settings, 63 program icons, 11
icon, 193–194 Try Me, 64 programming blocks,
naming, 193 View, 62–63 adding, 108
selection, 193 On/Enter button, 58 running the, 48–49
sharing, 197 output/USB ports, 55–56 simple file example, 11–12
My Contacts submenu, 63 resetting, 53 Start New Program field, 43
My Files menu (NXT Brick), 61 Right Arrow button, 58 starting new, 43–45
My Portal feature speaker, 56 Starting Point sequence
accessing, 24 system file restoration, 42 beam, 28
hiding, 28 technical specifications, 54–55 switching between, 28, 105
overview, 6 turning on, 46 text, 44
uses of, 24 NXT Brick Name icon (LCD nxtprograms web site, 288–289
display), 59 NXT_Python programming
NXT Buttons programming language, 13
N block, 115
name NXT Controller
developer profile, 104–105 basic description of, 23–24 O
My Block, 193 Download and run button, 24 On/Enter button, NXT Brick, 58
program, 43, 102–103 Download and run selected On/Off submenu, 63
Name attribute, programming button, 24 open directory project, 286–287
block Download button, 24 Or operation, 176
Constant, 186 NXT Window button, 24 outline
File Access, 189 Stop button, 24 program logic, 98
Record/Play, 144 NXT Datalog menu (NXT Brick), turning into functioning
Next Action attribute, 143 62 program, 100
Not operation, 177 NXT files submenu, 61 output data plug, 163–164
Note attribute, 147 NXT Program menu (NXT Brick), output/USB ports, NXT Brick,
Number to Text programming 61 55–56
block, 118, 186–187 NXT++ programming language, overriding sleep mode, 188
numeric value conversion, 12
186–187 NXT Step-Lego Mindstorms NXT
NXT Brick Blog, 287–288 P
batteries, 52–54 NXT Version submenu, 63 parallel sequence beams, 128–131
bi-directional communication, 3 NXT window parameter, 108
as brain of robotic creation, 3, Communications tab, 41–42 parts
51–52 Memory tab, 42–43 Alarm Bot inventory list, 262
buttons, 56 NXT Window button, 24 beams, 72, 77
Clear/Go Back button, 58 nxtasy.org web site, 290 comb wheel, 92
color, 52 NXT-G program connector, 77–84
connecting to computer, 30, adding blocks to, 44–45 Detector Bot inventory list, 243
45–46 comments, 135–137 gear, 84–91
file system, 60–61 compatible programming Go Bot inventory list, 204
files, backup and restoration, 43 languages, 12 identification, 71–72
firmware, reinstalling, 43 creating and preparing for magazine, 92
Go Bot development, 204–205 execution, 100 purchasing additional, 291
illustration, 52 creating new, 102 replacement, 291
input ports, 56–57 delayed execution, 44–46 rims, 92
LCD Display window, 58–60 developer profile, 103–105 shooter, 92
Left Arrow button, 58 downloading, 47–48 tires, 92
managing connections to, 41–42 Tracker Bot inventory list, 225
316 Index

parts (continued ) Common palette, 109–112, R

tracks, 92 139–140 Random programming block, 117,
V Belt, 93 Compare, 178–179 181–182
pausing execution, 151–153 Complete palette, 110–115 Range programming block, 117,
pbLua programming language, connecting with data wires, 180–181
12 163–164 RCX microcomputer, 2
peg blocks, 83, 85 Constant, 184–186 Read file action, 189
pegs copying, 134 Readme file, 8–9
friction, 80 Custom palette, 115, 192 rear wheel chassis, Go Bot
smooth, 80 Data, 114, 117, 175–186 assembly, 210–212
stop ridge, 80–81 data hub, 122 Receive Message programming
types of, 80 data wires, 112 block, 115
uses for, 79–80 deleting, 124 Recording attribute, 144
Pen Tool, 134–135 Display, 147–148 Record/Play programming block
pieces. See parts examples of, 97 Action attribute, 144
playback, 143–145 File Access, 188–190 basic description of, 111–112
Pointer Tool, 132–133 Flow, 114, 116, 175 configuration panel, 143–144
Port attribute, programming importing, 34–35 File attribute, 145
block Keep Alive, 188 Name attribute, 144
Calibrate, 191 Logic, 175–177 Recording attribute, 144
Color Lamp, 173 Loop, 111–112, 116, 153–156 Time attribute, 144–145
Loop, 156 Math, 177–178 Redo command, 134
Move, 141–142 most commonly accessed, 109 registration, Mindstorms NXT
Switch, 158 Motor, 170–171 software, 8
Touch Sensor, 174 Move, 140–143 remote control
Wait, 153 moving to new location, execution, 37
Position attribute, 150 131–134 Go Bot development, 221–222
Power attribute, 143 My Block, 115, 119, 193–197 overview, 2–3
program. See also NXT-G Number to Text, 186–187 shortcuts, 37
programs parameters, 108 Remote Control window
development and execution, Random, 181–182 accessing, 36
96–97 Range, 180–181 basic description of, 21
syntax rules, 97 Reset Motor, 191–192 Connections button, 41
program code, 13 selecting multiple, 133 remote control execution, 37
program logic Send Message, 172 remote control shortcuts, 37
comments, 135 Sensor, 112, 114, 173–175 servo motor operations, 38
condition, 98 shared customized functions, 34 replacement cable, 69–70
flowchart, 98–100 Sound, 145–146 replacement parts, 291
outline, 98, 100 Starting Point, 123–124 Reset Motor programming block,
pseudocode, 98 Stop, 175 118, 191–192
text string, 98 Switch, 156–159 resetting NXT Brick, 53
program termination, Detector Text, 187–188 resources, Lego development,
Bot programming, 255–256 Touch Sensor, 174 14–16. See also web site
programming undoing/redoing tasks, 134 restoration
Alarm Bot, 275–281 Variable, 182–184 NXT Brick files, 43
Detector Bot, 251–256 Wait, 109–110, 150–152 system file, 42
Go Bot, 215–220 Web Block, 197–198 reverse movement, 140, 142
Tracker Bot, 232–239 Web Downloads, 115, 119 Right Arrow button, NXT
programming blocks Programming Palette Brick, 58
action, 110–111 basic description of, 21–22 right motor drive, Go Bot
adding to program, 44–45, 108, Common Palette tab, 22 assembly, 208–209
124 Complete Palette tab, rims, 92
Advanced, 115, 118, 186 22–23 RIS (Robotics Invention System),
attributes, 121–123 Custom Palette tab, 22 2–3
basic description of, 107–108 pseudocode, 98 RJ12 cable connectors, 69–70
Bluetooth Connection, 192 Robo Center feature
Calibrate, 190–191 hiding, 28, 106–107
Color Lamp, 172–173 Q overview, 6
Quick Start Guide, 11
 Index 317

project building instructions, 25 Switch, 158 sound sensor, 31, 64–65

redisplaying, 107 Wait, 152 Sound Sensor programming
robot building instructions, 11 sensor loop, 154 block, 115
RoboRealm programming Sensor programming blocks, 112, source code, 284
language, 12 114, 173–175 speaker, NXT Brick, 56
robot. See also Alarm Bot; sequence beam speed
Detector Bot; Go Bot; Tracker basic description of, 125 gear train, 91
Bot drawing in different direction, servo motor, 37–38
activation, 13 126 spinning icon, 60
building instructions, 11 length, 126 SqLego programming
design competition, 15–16 locking into position, 127 language, 13
development, 11–13 parallel, 128–131 square root operation, 178
history in development of, 1 pin to location, 126 Start New Program field, 43
three step process to building, servo motor, 3 starting Mindstorms NXT
10–13 Alarm Bot assembly, 268–269 software, 9
RobotC programming language, connection points, 68 Starting Point location, 105,
12 movement, direction of, 39 123–124
robotic development reduction gear assemblies, 68 Steering attribute, 142
methodology, 202 rotation, 69 steering link, 82–83
Robotics Invention System (RIS), speed, 37–38 Stop button (NXT Controller), 24
2–3 tachometer, 68 Stop programming block, 116, 175
rotation sensor, 64 Settings menu (NXT Brick), 63 stop ridge, 80–81
Rotation Sensor programming sharing My Block, 197 straight beam
block, 115 shooter, 92 circular and cross holes in,
rotation, servo motor, 69 shortcuts 74–75
Ruby-nxt programming accessing commonly used colors, 72, 74
language, 12 commands and resources holes in, 74
running NXT-G program, using, 18 length, 72–73
48–49 NXT 2.0, list of, 20 list of, 73
remote control, 37 module, 72
Show attribute, 155 as most commonly used
S site. See web site piece, 72
saving work, 36 sleep mode, 188 subtraction operation, 178
Scan button, 41 Sleep submenu, 63 support beam
screens, Detector Bot assembly, smiley face graphic, 44 Detector Bot assembly,
245–246 smooth pegs, 80 247–248
Send Message programming Software files submenu, 61 Tracker Bot assembly, 227–229
block, 113, 172 Sound Editor, 2, 21, 39–40 support struts, Alarm Bot
sensor sound file assembly, 266–267
accelerometer, 64 creating and editing, 39–40 Switch programming block
assembly, Tracker Bot Go Bot development, 217–220 Action attribute, 159
development, 229–232 marking beginning and end basic description of, 111–112,
calibration, 30–31 segment of, 39–40 116
color, 65–66 Tracker Bot development, configuration panel, 157
compass, 64 236–238 Control attribute, 158
converter cable, 64 volume, 40 Display attribute, 158
gyroscopic, 64 wave graphic representation, flow control, 156–157
infrared, 64 39–40 Port attribute, 158
light, 30–31, 64–65 Sound files submenu, 61 Sensor attribute, 158
NXT Brick buttons as, 68 Sound programming block syntax rules, 97
rotation, 64 Action attribute, 146 system file restoration, 42
sound, 31, 64–65 basic description of, 111–113
temperature, 64 Control attribute, 146
touch, 64, 66 File attribute, 146–147 T
ultrasonic, 67–68 Function attribute, 146 tachometer, 68
Sensor attribute, programming Note attribute, 147 T-beam, 77
block Volume attribute, 146 technical specifications, NXT
Calibrate, 191 Wait attribute, 147 Brick, 54–55
Loop, 155 temperature sensor, 64
318 Index

text U Control attribute, 152

comment, 136 ultrasonic sensor, 67–68, 270–272 pausing execution with, 151–153
Info: text box, 137 UltraSonic Sensor programming Port attribute, 153
Text attribute block, 115 Until attribute, 152
Display programming block, 149 Undo command, 134 Web Block, 197–198
File Access programming block, Until attribute, 152 Web Downloads programming
190 Update NXT Firmware window, block, 115, 119
text display, Go Bot development, 19, 31–33 web site
217–220 updates, firmware, 31–33 author, 298–299
Text Pad, 233 USB cable, 13, 45–46 companion, 283–284
Text programming block, 118, USB port, NXT Brick, 55–56 FIRST LEGO League (FLL),
187–188 USB status icon (Brick LCD 15–16
text string, program logic, 98 display), 59 LDraw, 297
Tic-Tac-Toe, 58 User Guide, 13 Lego, 292–293
Time attribute, 144–145 user profile, 103–104 Lego Club, 293–294
time loop, 154 Lego Mindstorms, 14, 285–286
Time programming block, 44–46 Lego Page at Wikipedia, 294
Timer programming block, 115 V nxtasy.org, 290
tires, 92 V Belt, 93 nxtprograms, 288–289
too many inputs, 166 Value attribute, programming Wikipedia Lego Mindstorms
toolbar, Mindstorms NXT 2.0, 21 block NXT 2.0, 289
Tools menu, 19, 21 Calibrate, 191 wheel chassis, 210–212
torque, 91 Constant, 186 Wikipedia LDraw page, 296
touch sensor, 64, 66, 244–245, Variable, 184 Wikipedia Lego Mindstorms NXT
248–251 Variable programming block 2.0 web site, 289
Touch Sensor programming block Action attribute, 184 Windows
Action attribute, 174 assigning variables, 182 firmware updates, 32
basic description of, 115 basic description of, 117 Mindstorms NXT software
Port attribute, 174 configuration panel, 183 installation, 7–9
Tracker Bot defining variables, 182 wire path, 169–170
color sensor preparation, List attribute, 183 wireless communication, 13
226–227 Value attribute, 184 Work Area
documenting, 238 vehicle creation instructions, 25 expanding/contracting, 28
five step building process, 225 versions, Lego Mindstorm NXT location of, 28
introduction, 223 kit, 2 navigation within, 27–28
moving the, 233–236 View menu (NXT Brick), 62–63 new portion of, dragging into
parts inventory list, 225 Visibility submenu, 63 view, 134–135
programming the, 232–239 volume, 40 programs in, switching between,
sensor assembly, 229–232 Volume attribute, 146 28, 105
sound effects, 236–238 Volume submenu, 63 space in, increasing, 106
support beam assembly, space in, restoring to original,
227–229 107
tracks, 92 W Starting Point location, 105
Try Me menu (NXT Brick), 64 Wait attribute, 147 Work Area Map, 27–28
Try Me programs, 56 Wait programming block Write file action, 189
Type attribute Action attribute, 153
Display programming block, 149 basic description of, 109–112,
File Access programming 116 X
block, 189 configuration panel, 150–151 Xor operation, 176