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Position both of Robosapien s arms so that both shoulders are all the way down, and both arms are all the way out with both claws open. Robosapien will gain quite a bit of side-to-side swaying motion, which results in the feet moving further forward with each step. The ultimate result is a large increase in walking speed. Note that in some cases the robot will sway so far that it will trigger its finger sensors on the floor.

uring the programming of the GrabberBot, I m not going to tell you to use any particular method for programming I m leaving that up to you. You might choose to open up the NXT software and start dropping blocks until you ve got the program completed; then you ll upload the program, test it, and debug it if you find any problems. Or you might use the method described in 12, moving forward with your program only after you ve successfully placed a block and then tested that the bot does what it s supposed to do. Or you can follow along with the method I ll present in this chapter, which is a slight variation on the second method. I ll place a block, configure it, upload it to my bot, and then test it. If the bot doesn t perform as anticipated, I ll reexamine the block and its configuration settings and see whether I ve made a mistake. In some instances, such as the placement of a WAIT block, I might place two blocks and then test the WAIT blocks are sometimes so simple I choose to test them at the same time as a more advanced block. Whichever method you choose, take notes of your successes, but ESPECIALLY your failures. Try to determine where you made your mistakes were you in a hurry and missed something important Did you choose the wrong programming block for the job If you pay attention to your mistakes and learn why you made them and how you solved them, your bot programming skills will definitely improve.

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-[NSSet setByAddingObject:]

-[NSSet setByAddingObjectsFromSet:]

Program the Bulldozer (SELECT SELECT Walk Forward) into the Sonic programming mode (S>) six times. Then press P and enter SELECT S> 14 times. Robosapien will bulldoze through anything in its path for over 8 minutes or 1,344 steps!

-[NSSet setByAddingObjectsFromArray:]

Right now, the ExploroBot is facing west, ready to begin its exit from the tunnel. Just like the entrance, the bot will make some moves that are duplicates: (Group 1) Forward Detect Wall Stop Turn Right (second corner) (Group 2) Forward Detect Wall Stop Turn Right (first corner) Turn Right (this final turn allows the robot to leave the tunnel) So, once again, there s an opportunity to use two LOOP blocks, one nested inside the other. There are just a couple differences with these two LOOP blocks: The bot will be making right turns instead of left turns. The bot will make two right turns, so the outer LOOP block should only need its Count set to 2 instead of 3. Knowing this information, let s place the two LOOP blocks and configure the outer LOOP for three repetitions and the inner LOOP for the Ultrasonic Sensor (see Figure 4-19). But didn t I say that it only needed to make two right turns After that second right turn, you want the bot to keep rolling. It won t encounter another wall, but it should encounter your hands, waiting for it to come out of the tunnel. For that reason, you can configure this LOOP with a count of 3, even though it won t make an actual third turn.

-[NSSet filteredSetUsingPredicate:]

Using this program, you can trick your friends into thinking Robosapien actually listens to you. 1. S> 2. SELECT Right-Hand Pickup 3. SELECT Walk Forward 4. SELECT Walk Forward 5. SELECT Right-Hand Throw 6. SELECT Listen 7. SELECT SELECT High 5 8. Position Robosapien s cup near his right foot for pickup and put the robot into listen mode (SELECT Listen). 9. Now, yell Bring me that cup! and Robosapien will pick up the cup, walk forward two steps, throw it at you, and go into listen mode. Say thanks and Robosapien will reply with a Heyyy and look for a high 5. Figure 10-12. Voice-controlled programs that use the sonic sensor can be a lot of fun.

+[NSIndexSet indexSetWithIndex:]

+[NSIndexSet indexSetWithIndexesInRange:]

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