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Convenient name for this section, huh The Lego Mindstorms NXT robotics kit uses that unique word, Mindstorms. For us, to mindstorm (or brainstorm) is our chance to use our creativity and start developing ideas for how this bot will be designed and built. This is an easy section to complete. What I want you to do is simply write down your questions, observations, and ideas that have been popping into your head since you became aware of the challenge. There are no incorrect items to place in this section except for sketches those come last. So, to get you started, take a look at Figure 2-7. You ll see some of my initial thoughts on this challenge, this bot, and the direction I want to take for my initial design.

When you use the VARIABLE block in a program, any variable value (Number, Text, or Logic) will be saved only while the program is running Once the program ends, your variable data is gone Normally this isn t a big deal; you typically program your robots to use variables that are useful only at the time the program is running But what if there s a value that often changes but is used by multiple programs uploaded to your robot For example, let s imagine a program (Program 1) that stops the robot 12 inches from a FINISH LINE and has the robot do a little dance before finishing Let s say that the initial distance between the STARTING LINE and the FINISH LINE is 24 rotations.

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Figure 3-1. Start a new program called HelloWorld Figure 3-2 shows the new program opened (see the tab called HelloWorld in the upper left corner ) and ready for you to start dropping NXT-G blocks. The word Start appears on the work space beam, telling you where your first programming block will be placed.

Program 1 could instruct the robot with a MOVE block to roll 20 rotations (four rotations short of the FINISH LINE) to stop just before it crosses the FINISH LINE and do a little dance before finishing Let s also imagine another program (Program 2) that should have the robot roll half the distance between the STARTING LINE and FINISH LINE before doing its dance; you d program it with a MOVE block configured to roll the robot forwards 12 rotations When the robot reaches this point, it stops, does a dance, and then continues to the finish line Finally, let s have a third program (Program 3) that rolls the robot forward 1/4 of the total distance or six rotations, has the robot do a little dance, and then continues rolling it to the FINISH LINE.

Figure 2-7 The Mindstorm section contains my initial thoughts I m not going to cover all my Mindstorm items here, but I would like to mention a couple and explain how and why I wrote them One of my observations was For the bot to turn, it will require at least 2 motors This might seem like common sense, but then again, maybe not In order for a bot to turn, it has to have a force that makes it turn Two wheels, connected to a single motor, only give forward and backward motion For the bot to turn left and right, it requires another motor By spinning one motor (and its wheel) in one direction and spinning the other motor in the reverse direction, we can cause the bot to turn This can also be accomplished simply by locking the second motor in place and keeping it from spinning.

Once again, you could just configure the MOVE block to roll forward six rotations before beginning the dance routine You should be able to program these three programs easily But what happens if I change the distance between the STARTING LINE and FINISH LINE to 48 rotations Now you have to go into all three programs (Program 1, Program 2, and Program 3) and change a bunch of MOVE blocks configuration panels There should be an easier way to save important values between programs and there is! It s called the CONSTANT block Like the VARIABLE block, the CONSTANT block can store a single value a number, a logic value, or a string of text This value is then stored on the NXT brick and is referred to as a global constant.

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