winning_lego_mindstorms_programming.pdf

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Technology in AcTion
Winning
LEGO MINDSTORMS
Programming
ROck-SOLID RELIabLE
PROGRaMMING
fOR fuN aND cOMPETITION
James J. Trobaugh and Mannie Lowe
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Contents at a Glance
About the Authors�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½
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About the Technical Reviewer �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½
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Acknowledgments �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½
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Introduction �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½
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Chapter 1: Meeting the NXT-G Software �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½1
Chapter 2: Software Design Process �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½13
Chapter 3: Working with My Blocks �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½21
Chapter 4: When Things Go Wrong �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½43
Chapter 5: Moving Data �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½57
Chapter 6: Making Smart Decisions �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½75
Chapter 7: Motors and Motion �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½97
Chapter 8: Light Detection �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½121
Chapter 9: Touching and Bumping �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½141
Chapter 10: Seeing with Ultrasonics �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½149
Chapter 11: Programming Like a Pro �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½159
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Contents at a Glance
Chapter 12: Code Management �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½179
Chapter 13: Programming Pitfalls �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½193
Chapter 14: Tips and Tricks �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½209
Index �½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½�½225
Introduction
A robot is only as good as the instructions that it’s given. Even the best-designed robots need clear
and concise instructions to perform at their best. With the knowledge in this book, you will be able to
expand your programming skills, as well as avoid many of the common pitfalls that NXT-G software
writers fall into.
Who This Book Is For
This book is for individuals or teams that compete in any LEGO robotics competitions. The
techniques covered in this book are intended to build upon a reader’s existing basic NXT-G skill set.
In this book, the entire program development process is covered—from brainstorming, to logic flow,
and then finally to the actual writing of the code. All of these steps are important.
You will also find many examples of useful code for making the most of your robot’s sensors and
motors. Each of the sensors is addressed using real-world competition scenarios that give examples
of how you can make your robot’s program effective in completing the necessary missions.
Many coders find the basics of NXT-G easy to pick up on their own, but then struggle to learn the
more advanced ideas that can be the difference between a good robot and a winning robot. The tips
and methods explained in this book will help give any team the edge it needs at an event.
How This Book Is Structured
Chapters 1 and 2 introduce the NXT-G development environment and the design process we
recommend when writing code.
Chapters 3 through 6 cover some key topics that help you take your code to the next level and write
competition-quality programs. You’ll learn about modularizing with My Blocks, about debugging and
troubleshooting when things go wrong, how to move data efficiently, and generally how to make
good decisions in designing your programs.
Chapters 7 through 10 detail each of the input sensors and motors that your NXT-G code will be
interacting with as it attempts to complete various missions. The examples start out simple and then
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