index

5M T beam, 36, 280 angled structures, 47–48 dongle, 10 9M steering link, 40, 283 animal projects, 193 submenu, 24, 96 antennae attachments, for Table-Bot, web resources, 300 A 148–154 .bmp file type, 115 The Art of MINDSTORMS NXT_G BOM (Bill of Materials) Abe UB 22S, 10 Programming (Griffin), 107 for Inventor-Bot, 126 absolute value, 100 8-bit AVR processor, 21 for the Jeep, 162 acceleration of motor, 95 Atmel 32-bit ARM7 processor, 21 for the Lizard, 195 accelerometer sensor, 26 axle accessories, 38, 282 for the Printer, 233 Action blocks, 94–96, 291, 293 axle ball peg, 36–37, 282 brainstorming, 122 Color Lamp block, 96–97 axle extender, 36–37, 284 BrickCon, 302 Display block, 95 axles, 35, 36–38, 280–282 BrickFest, 302 Motor block, 94–95 bricks, 3 Send Message block, 95–96 B Brickset, 299 Sound block, 95 Brickshelf, 299 sub-palette, 94 backlash, 54 , 302 Action parameter ball magazine, 43, 287 broken data wires, 92–93 for Color Lamp block, 97 balls, 43, 288–289 broken My Blocks, 109 for Display block, 82 ball shooter, 43, 287 building , 3–5 for File Access block, 106 base for the Printer, 232 web resources, 301 for Loop block, 85 base speed, 161 bushings, 36–37, 38, 282 for Motor block, 95 batteries, 9 buying LEGO pieces, 301 for Record/Play block, 80 power conservation, 16 for Sound block, 81 battery level indicator, 15 for Switch block, 86 beams, 33–36, 277–280 for Variable block, 102 angled, 35–36 cables, 4, 28–29, 277 for Wait block, 84 extending, 45–46 converter, 23 activating robot, 7 right-angled, 36 for Inventor-Bot, 137 active sensors, 25 sequence, 73–74 for the Jeep, 175, 181 addition, 100 straight, 34–35 for the Lizard, 214–215 Advanced blocks, 104–107, 291, 297 widening, 46 for the Printer, 265–266 Bluetooth Connection block, 107 bevel gears, 42, 285–286 troubleshooting placement, 272 Calibration block, 106–107, 111 Bill of Materials (BOM) CAD (-aided design) software, web File Access block, 105–106 for Inventor-Bot, 126 resources, 301 Keep Alive block, 105 for the Jeep, 162 Calibrate Sensors tool, 111–112 Number to Text block, 104 for the Lizard, 195 Calibration block, 106–107, 111, 297 Reset Motor block, 107 for the Printer, 233 cam, 285 Text block, 105 Blakbird’s Technicopedia, 299 catapult, 44 Albrecht, Eric, 299 Block Import and Export Wizard, 113–115 CD-ROM, 11 Alpha Rex humanoid, 7, 16 blocks, right-angled, 47 Center Reset My Block, 182 ambient light, 27 blue light, 27 Clear/Go Back button, on microcomputer, And logical operation, 99 Bluetooth 23–24 angle connectors, 36–37, 284 connection, 6, 9–10, 13, 15–16, 23, 96 clipboard, and managing programming angled beams, 35–36, 278–280 Connection block, 107, 297 blocks, 75

The Unofficial NXT 2.0 Inventor's Guide © 2010 by David J. Perdue closing data file, 106 computer. See also NXT microcomputer for Switch block, 86 color controlling robot from, 116 for Wait block, 84 of axles, 38 requirements, 9 control sequence, 182 of data wires, 92 computer-aided design (CAD) software, web converter cables, 23 of pegs, 39 resources, 301 copying selected blocks, 75 of pieces, 33 configuration panel, 13, 70 cornered peg joiner, 36–37, 285 color lamp, sensor acting as, 27 for Bluetooth Connection block, 107 corners Color Lamp block, 96–97, 293 for Compare block, 100 forming, 47 Color parameter, for Color Lamp block, 97 for Constant block, 103 program for getting out of, 157–158 color-sensitive reptile. See Lizard, the for Display block, 82 Count option, for Loop block condition, 85 color sensor, 4, 26–27, 276 image in, 116 Create Pack and Go tool, 113 adding to the Jeep, 186–188 feedback boxes in, 78 cross-axles, 35, 36–38, 280–282 Color Sensor block, 97, 295 for File Access block, 106 cross block, 36–37, 40, 283–284 Color Sorter, 7, 16, 26 for Logic block, 99 cross-holes, 34, 35, 38, 47 comments, in programs, 76–77 for Math block, 100 CSR BlueCore4 chip, 23 Common blocks, 77, 94, 291, 292–293. See for Motor block, 94 custom constants, 104 also Common palette for Move block, 70, 78 custom NXT-G blocks, 291 Common palette, 70, 77–86 for Number to Text block, 104 website repository, 113 Display block, 82–83, 95, 116, 292, 293 for Random block, 101 Custom palette, 70, 107–109 image in configuration panel, 116 for Range block, 101 cutting, selected blocks, 75 Loop block, 84–85, 98, 183, 292, 295 for Record/Play block, 80 cycle, 93 data plugs, 90 for Reset Motor block, 107 sensor reading, 97 for Send Message block, 96 D Move block, 5, 77–80, 292 for Sound block, 81, 82 Data blocks, 99–102, 291, 296 configuration panel, 70 for Switch block, 87, 228 Compare block, 100 data hub chart, 91 for Text block, 105 Constant block, 103–104 Ultrasonic Sensor block to control connection Logic block, 99–100 power level of, 98 with Bluetooth technology, 6, 9–10, 13, Math block, 100 Record/Play block, 80, 292 15–16, 23, 96 Random block, 101, 106 Sound block, 80–82, 95, 292, 293 with USB cable, 14–15 Range block, 101 for the Lizard, 229 Connection parameter, for Send Message Variable block, 102 Random block to control, 101 block, 96 data files Switch block, 86, 98, 293, 295 connector blocks, 36–37, 40, 58, 283–285 closing, 106 configuration panel, 228 connectors, 36–40, 280–285 storing or reading, 105–106 data plugs, 90 axles, 35, 36–38, 280–282 data hub, 89, 90 sensor reading, 97 connector blocks, 36–37, 40, 58, resizing, 92 Wait block, 83–84, 98, 292, 295 283–285 data hub chart, for Move block, 91 sensor reading, 97 on NXT electrical cable, 28 data log, from the Printer, 274 sub-palette, 84 pegs, 39–40, 45–49, 282–283 Datalog Files subfolder, 24 Communications tab, in NXT window, 71 Constant block, 103–104, 296 data plugs, 89, 90–91 Compare block, 100, 296 Constant option, for Motor block action, 95 data types Compare parameter, for Ultrasonic Sensor constants, availability to multiple mismatch, 93 block, 97 programs, 104 transmitting, 92 compass sensor, 26 Controller, 14–15, 71 data wires, 85, 89–93 Complete palette, 70, 93–107 Control parameter broken, 92–93 imported blocks on, 114 for Loop block, 84, 85 creating connection, 90 Sensor sub-menu, 97 for Motor block, 95 for Sensor blocks, 97 compound gearing, 56 for Sound block, 81 and wire path, 92

304 index The Unofficial LEGO MINDSTORMS NXT 2.0 Inventor's Guide © 2010 by David J. Perdue deceleration of motor, 95 E friction pegs, 36–37, 39, 283 Default profile, 66 for extending beams, 46 Edit Constants dialog, 103 default settings, restoring for sensor, 112 front-wheel drive, 160–161 Edit menu, 69, 75 default variables, 102 front-wheel steering, 160 Manage Profiles, 67 Define Constants dialog, 104 Function parameter, for Sound block, 81 Edit Variables dialog, 102 degrees educational resources, 301 for measuring servo motor duration, 79 G Eject My Block, 268 for specifying rotation, 25 electrical cables. See cables gearing down, 55 deleting electronic elements, 4, 276–277 gearing up, 55, 56 My Blocks, 109 NXT microcomputer, 21–24 gear ratio, 54–55 selected blocks, 75 schematics, 29 of compound gear ratio, 56 sound files from NXT, 81 sensors, 25–27 gears, 41–42, 285–286 digital sensors, 26–27. See also color sensor, servo motors, 25 driven, 54–56 ultrasonic sensor storing, 18 driver, 54–56 Direction parameter testing, 24 idler, 54–56 for Motor block, 94 Enter button, on microcomputer, 23–24 radius of, 57 for Move block, 79 error noise, program to emit, 15 roles for, 54 Display block, 82–83, 95, 116, 292, 293 events, keeping track of, 156 spacing on parallel axles, 57–58 Display parameter exiting program, 29 spacing on perpendicular axles, 60–61 for Display block, 82 exporting blocks, 115 spur, 59 for Switch block, 86 extending beams, 45–46 teeth, 41, 55 division, 100 gear train, 51–54 D-Link DBT-120 adapter, 10, 15 F assembling, 57–61 documentation, 123 compound, 56 double bevel gears, 42, 57 fairing elements, 43–44, 287 controlling performance, 54–57 on perpendicular axles, 60, 61 false value, 98, 99 gearwheel, 41 double friction peg, 36–37, 283 feedback boxes Go>> button, 67 Download and Run button, on controller, 71 for Loop block, 85 Google SketchUp NXT parts library, 301 Download and Run Selected button, on for Motor block, 94 graphical programming language, 65 controller, 71 for Move block, 80 graphics, restoring built-in, 112 Download button, on Controller, 14–15, 71 for Ultrasonic Sensor block, 98 green light, 27 downloading firmware, 113 File Access block, 105–106, 297 Griffin, Terry, The Art of LEGO MINDSTORMS downloading program File menu, 69 NXT-G Programming, 107 with Bluetooth technology, 16 File parameter to NXT computer, 14–15 for Display block, 82 H Downloading to NXT dialog, 15 for File Access block, 106 drag-and-drop approach to programming, 5 for Record/Play block, 80 half-bushing, 38, 282 drawing, Display block configuration for Sound block, 81 in gear train, 60 panel for, 83 file types, for Image Editor, 115 Hardware Development Kit (HDK), 29 Dreier, Andreas, 115 firmware in NXT, 10 headlights, for the Jeep, 191 driven gear, 54–56 updating, 112–113 Help menu, 67, 69 driver gear, 54–56 , 10, 21 horizontal motor, for the Printer, 232 driving flexible structures, 49 Horizontal My Block, 269 with front wheels, 160 Flow blocks, 84, 98, 291, 295 Hughes, Jim, 300 straight and turning, 137 flow of control, for programming blocks, Duration parameter 73–74 I for Motor block, 95 Forever option, for Loop block condition, 85 icon, customizing for My Block, 108 for Move block, 79 forward direction, of servo motor, 79 idler gear, 54–56 dynamic structures, 48 friction, gears and, 54 Image Editor, 115–116 friction axle peg, 36–37, 47–48, 283

The Unofficial LEGO MINDSTORMS NXT 2.0 Inventor's Guide index 305 © 2010 by David J. Perdue images, Display block configuration L Loop block, 84–85, 98, 183, 292, 295 panel for, 82 data plugs, 90 LabVIEW, 5 importing sensor reading, 97 LCD graphical display, 4, 24 blocks, 114 loudspeaker, 23 text display on, 83 to Image Editor, 115 LowerPen My Block, 266, 267 LDD (), 123, 301 input data wires, 90 LUGNET, 300 LDraw system of tools, 123, 301 input plugs, 90 LED (light-emitting diode), 27 data from multiple output plugs, 93 M Left button, on microcomputer, 23–24 on data hub, 89, 92 Left Motor plug, 90 Macintosh computer, Bluetooth missing data source, 93 LEGO computer-aided design software, 123 connection to, 16 input ports, 4, 22–23 LEGO Digital Designer (LDD), 123, 301 Mac OS X, installing NXT software, 11 installing NXT software, 11 LEGO events, 302 magnifying glass icon, 72 Internet. See also web resources LEGO MINDSTORMS, web resources, 299 Mailbox parameter, for Send Message access, 17 LEGO MINSTORMS NXT-G Programming block, 96 downloading Web blocks from, 109 Guide (Kelly), 107 Manage Profiles dialog, 67 intruders, detecting, 146–147 LEGO pieces, 31–33. See also pieces Match block, 296 Inventor-Bot, 125–138 buying, 301 Math block, 100 Bill of Materials for, 126 storage, 302 measuring pieces, 32–33 cable connections, 137 LEGO RCX microcomputer, sensors memory, 21 programming, 137–138 designed for, 23 defragmenting, 72 Inventor-Drive program, 137–138 LEGO World, 302 File Access block and, 105 Inventor-Talk program, 138 legs, for the Lizard, 216–225 sound files and, 81, 117 LiftPen My Block, 266, 267 Memory tab in NXT window, 71 J light-emitting diode (LED), 27 menu bar, 67, 68, 69 Jeep, the, 159–192 light intensity, color sensor to measure, 27 menus, on NXT microcomputer, 24 adding color sensor, 186–188 lights, from Color Lamp block, 96–97 Message parameter, for Send Message Bill of Materials, 162 Light Sensor block, 97, 294 block, 96 building, 162–181 light sensors, 25, 84, 111–112 MINDSTORMS method, 121–123 cables for, 175, 181 Line-Following program, 189–190 building robot, 122 design, 160 List parameter, for Variable block, 102 documentation, 123 front-wheel drive, 160–161 Little Help Window, 72, 91 idea as foundation, 121–122 headlights, 191 Lizard, the, 193–230 programming, 122 parking sensor, 191 added options, 230 miscellaneous pieces, 43–44, 286–289 programs, 182–185 Bill of Materials, 195 mobile phone, for controlling NXT robot, 23 for following line, 186–191 building, 195–213 mobile , 122 remote control, 191 cables, 214–215 driving straight and turning, 137 .jpg file type, 115 legs, building and attaching, 216–225 MOCpages, 299 programs, 226–229 modular robots, 122 K creating final, 228–229 module (M), for beam measurement, 34 Synchronize My Block, 226 Morse code, from the Printer, 274 Keep Alive block, 105, 297 Walk My Block, 227 motion, right angle for bevel gears to Kelly, Jim, LEGO MINSTORMS NXT-G turning, 194 transmit, 42 Programming Guide, 107 walk process, 194 Motor block, 94–95, 293 keyboard, 23 Logic block, 99–100, 296 Variable block for controlling power level, shortcuts, 76 Logic data, 90, 92, 99, 102 102–103 knob wheels, 41, 42, 286 Logic option, for Loop block condition, 85 motor ports, 22 on perpendicular axles, 60–61 motors, 4. See also servo motors spacing, 58

306 index The Unofficial LEGO MINDSTORMS NXT 2.0 Inventor's Guide © 2010 by David J. Perdue mouse, shortcuts, 76 number data, 90 NXT Program submenu, 24 Move block, 5, 77–80, 292 comparisons, 100 nxtRICeditV2, 115 configuration panel, 70 yellow data wires for, 92 NXT software, installing, 11 data hub chart, 91 Number to Text block, 104, 297 NXT window, 71 Ultrasonic Sensor block to control power NXT 2.0 set, requirements, 9–11 NXT Window button, on controller, 71 level of, 98 NXT blogs, 300 movement, rotating axles for, 38 NXT Buttons Sensor block, 97, 294 O moving NXT Datalog submenu, 24 object-avoiding robots, 27, 141 comments, 77 NXT Data panel, 71 objects, following in straight line, 141–142 selected blocks, 75 NXT Files subfolder, 24 operating systems, 9 multiple lines of text, displaying on LCD, 83 NXT-G interface, 67–72 Operation parameter, for Math block, 100 multiplication, 100 configuration panel, 70 order of execution, for programming blocks, My Blocks, 107–109 controller, 71 73–74 broken, 109 menu bar, 67, 68, 69 organizing pieces, 17–18 builder dialog, 108 programming palette, 70 Or logical operation, 99 Center Reset, 182 toolbar, 68, 69 output data wire, 90 deleting, 109 work area, 69 output plugs, on data hub, 89, 92 Eject, 268 NXT-G program output ports, 4, 22, 90 Horizontal, 269 comments, 76–77 and Move block control, 78 icon, customizing for, 108 sample, 6, 24 overlapping beams, 46 LiftPen, 266, 267 starting, 65–67 for the Lizard, 226–227 NXT-G programming environment, 5, P LowerPen, 266, 267 16, 65 ResetHorizontal, 267 adding program block, 14 Pan tool, 76 ResetVertical, 268 creating program, 12 paper, creased or crumpled in the Synchronize, 226 fundamentals, 72–77 Printer, 272 testing, 183 managing programming blocks, 75 parallel axles, spacing gears on, 57–58 Vertical, 270 navigating work area, 76 parallel sequence, 74 viewing components, 109 sequence beams, 73–74 Parker, Dave, 300 Walk, 227 starting point, 72 parking sensor, for the Jeep, 191 Wheel Control, 183 getting started, 11–16 passive sensors, 25–26. See also touch My Files submenu, 24 main screen, 66 sensor My Portal, 17 quick reference, 291–297 passkey, 16 versions, 65 pass-through plug, 92 N web resources, 300 pasting, selected blocks, 75 NXTLOG, 123 PC computer, Bluetooth connection to, 16 Name parameter NXT microcomputer, 4, 21–24, 276 Peeron LEGO inventories, 300 for File Access block, 106 Bluetooth connection, 23, 96 peg accessories, 40, 283 for Record/Play block, 80 buttons, 23–24 pegs, 39–40, 45–49, 282–283 names defragmenting memory, 72 pen of NXT microcomputer, 24, 71 deleting sound files, 81 motor, for the Printer, 232 for pieces, 32 downloading program to, 14–15 positioning in the Printer, 258–259 National Instruments, 5 firmware in, 10, 112–113 troubleshooting non-printing, 272 Next Action parameter input ports, 22–23 performance for Motor block, 95 name of, 24, 71 controlling for gear train, 54–57 for Move block, 79–80 output ports, 22 optimizing, 57 Note parameter, for Sound block, 82 RAM, 21 perpendicular axles, spacing gears on, Not logical operation, 99 USB port, 22 60–61

IThe Unofficial LEGO MINDSTORMS NXT 2.0 Inventor's Guide ndex 307 © 2010 by David J. Perdue pieces, 31–33. See also LEGO pieces progress update, 274 R basic facts, 275–289 ResetHorizontal My Block, 267 Ramp Down option, for Motor block beams. See beams ResetVertical My Block, 268 action, 95 classifying, 32 Vertical My Block, 270 Ramp Up option, for Motor block action, 95 color of, 33, 38, 39, 92 testing and troubleshooting, 271–272 Random block, 101, 106, 296 connectors, 36–40, 280–285 programming blocks. See also specific Range block, 101, 296 axles, 35, 36–38, 280–282 block names range of values, for data plug, 91 connector blocks, 36–37, 40, 58, adding, 14 RCX microcomputer, 10 283–285 managing in work area, 75 rebound, 27 pegs, 39–40, 45–49, 282–283 selecting, 75 Receive Message block, 97, 294 electronic elements. See electronic programming palette, 70 rechargeable batteries, 9 elements programming process, 5–6, 65, 122 Recording parameter, for Record/Play gears. See gears drag-and-drop approach, 5 block, 80, 292 measuring, 32–33 Inventor-Bot, 137–138 Record/Play block, 80, 292 miscellaneous, 43–44, 286–289 web resources, 300 red light, 27 names for, 32 programs redoing actions, 75 playing action, Record/Play block for, 80 comments in, 76–77 Remote Control, 116 .png file type, 115 control sequence, 182 remote control, for the Jeep, 191 Pointer tool, 75 downloading, 14–16 ResetHorizontal My Block, 267 Port parameter error noise, 15 Reset Motor block, 107, 297 for Color Lamp block, 97 exiting, 29 ResetVertical My Block, 268 for Loop block, 85 Inventor-Drive, 137–138 troubleshooting, 272 for Motor block, 94 Inventor-Talk, 138 reverse direction, of servo motor, 79 for Reset Motor block, 107 Line-Following, 189–190 .ric file type, 115 for Switch block, 86 for the Lizard, 226–229 right angle, for bevel gears to transmit for Ultrasonic Sensor block, 97 creating final, 228–229 motion, 42 for Wait block, 84 Synchronize My Block, 226 right-angled beams, 36, 280 ports, input and output, 4, 22–23 Walk My Block, 227 right-angled block, 47 Position parameter, for Display block, NX T-G Right button, on microcomputer, 23–24 82, 83 comments, 76–77 RJ12 connectors on cables, 28 Power parameter sample, 6, 24 Robo Center, 16 for Motor block, 95 starting, 65–67 Robogator, 7, 16 for Move block, 79 for the Printer, 266–274 (see also under robots. See also Jeep, the; Lizard, the; Printer, the, 231–274 Printer, the) Printer, the Bill of Materials, 233 saving all files needed, 113 activating, 7 building, 233–264 Sentry-Avoid, 141 building, 122 frame for paper, 242–243 Sentry-Follow, 141–142 documenting, 123 cables, 265–266 Sentry-Test, 146 idea for, 121–122 components, 231–232 speaker, 12 Inventor-Bot, 125–138 how it works, 231–-233 Table-Bot, 155–158 Bill of Materials for, 126 non-LEGO requirements, 232–233 Table-Corners, 157–158 cable connections, 137 programs, 266–274 Touch-Count, 156–157 programming, 137–138 Eject My Block, 268 Wall-Avoidance, 184–185 reactions to, 3 final, 272–274 push button, on touch sensor, 25 Sentry-Bot, 139–147 Horizontal My Block, 269 adding ultrasonic sensor, 139–140 LiftPen My Block, 266, 267 Q avoiding objects, 141 LowerPen My Block, 266, 267 Quick Start kit, 10 creating complete program, 146–147 Morse code, 274

308 index The Unofficial LEGO MINDSTORMS NXT 2.0 Inventor's Guide © 2010 by David J. Perdue shooter extension, 142–146 Move block for controlling, 77 stop ridge on peg, 39 testing, 146 one to control 2 legs, 194 storage, 17–18, 302 structure sturdiness, 45–49 touch sensors for synchronizing, 226 straight beams, 32–33, 34–35, 277–278 Table-Bot, 149–158 unlimited duration, 79 strength, from overlapping, 46 antennae attachments, 148–154 Settings submenu, 24 studded pegs, 36–37, 39, 282 getting out of corners, 157–158 shaft heads, 25 sturdiness of robot structure, 45–49 programs, 155–158 Shooterbot, 16 subassemblies, 122 rotation of gear, controlling direction, 54 challenges, 17 subtraction, 100 rotation sensor, 25 sample NXT-G program, 6 Switch block, 86, 98, 293, 295 Rotation Sensor block, 97, 294 shooter extension for Sentry-Bot, 142–146 configuration panel, 228 Compare block for determining reading testing, 146 data plugs, 90 from, 100–101 Show parameter sensor reading, 97 round holes, 34 for Loop block, 85 symbols connecting to cross-hole, 47 for Ultrasonic Sensor block, 98 on LCD display, 24 rubber band, 43, 286 sleep timer, 105 on Move block, 78 smooth pegs, 39, 282 Synchronize My Block, 226 S in dynamic structures, 48 Software subfolder, 24 T schematics, for electronic pieces, 29 Solid Modeling, 301 selecting programming blocks, 75 Table-Bot, 149–158 sound selection rectangle, 75 antennae attachments, 148–154 changing for block, 14 Send Message block, 95–96, 293 getting out of corners, 157–158 configuration panel for playing file, 81 Sensor blocks, 97–98, 291, 294–295 programs, 155–158 program to emit error noise, 15 Sensor parameter Table-Corners program, 157–158 restoring built-in, 112 for Loop block, 85 tachometer, 25 Sound block, 80–82, 95, 292, 293 for Switch block, 86 Technica, 300 for the Lizard, 229 for Wait block, 84 technical specifications, 29 Random block to control, 101 sensor ports, 22–23 TECHNIC tooth, 43, 286 Sound Editor, 23, 117–118 sensors, 4, 25–27 teeth, in gears, 41, 55 Sound Files subfolder, 24 adjusting minimum and maximum testing sound sensor, 25, 84, 111–112 values detected, 111–112 electronic elements, 24 Sound Sensor block, 97, 294 configuration for Wait block, 84 My Blocks, 183 spacing, for gear pairs, 57–58, 60–61 Sentry-Avoid program, 141 the Printer, 271 Speaker program, 12 Sentry-Bot, 139–147 Sentry-Bot shooter extension, 146 speed adding ultrasonic sensor, 139–140 testing conditions, in Loop block, 85 of axle revolution, 54 avoiding objects, 141 test pad, 7 decreasing, 57 creating complete program, 146–147 text, Display block configuration gearing up for, 55, 56 shooter extension, 142–146 panel for, 83 of wheels, 161 testing, 146 Text block, 105, 297 spur gears, 59. See also gears Sentry-Follow program, 141–142 text data, 90 square root, 100 Sentry-Test program, 146 converting number to, 104 stability for walking, 194 sequence beams, 73–74 Text/Number parameter, for File Access stationary robot, 79, 122, 274 automatic resizing, 74–75 block, 106 steering, front-wheel, 160 extending, 73 Text parameter, for Display block, 83 steering link, 283 parallel, 74 tile, 43, 286 Steering parameter, for Move block, 79 sequential execution, 73 Time option, for Loop block condition, 85 Stop block, 98, 295 servo motors, 4, 25, 276 Time parameter, for Record/Play block, 80 Stop button, on controller, 71 automatic error correction, 107 Timer block, 97, 294 stopped axles, 36–37, 38, 281 forward and reverse directions, 79 tires, 288

IThe Unofficial LEGO MINDSTORMS NXT 2.0 Inventor's Guide ndex 309 © 2010 by David J. Perdue tones unlimited duration, for servo motor, 79 Windows, installing NXT software, 11 Sound block configuration panel for, 82 Update NXT Firmware tool, 112–113 Windows XP, message for USB cable, 14 vs. sound files, 81 USB cable, 6, 11, 13 wireless connection. See Bluetooth toolbar, 68, 69 connection with, 14–15 connection tools troubleshooting, 15 wireless message, Send Message Block Import and Export Wizard, USB port, 22 block for, 95 113–115 user profiles, 66 wire path, 92 Calibrate Sensors tool, 111–112 work area, 69, 76 Create Pack and Go tool, 113 V Work Area Map, 72 Image Editor, 115–116 Value parameter, for Variable block, 102 Remote Control, 116 X Variable block, 102, 296 Sound Editor, 117–118 variables Xor logical operation, 99 Update NEXT Firmware tool, 112–113 basespeed, 183 Tools menu, 69 to store touch sensor press count, 156 torque, 54 vertical motor, for the Printer, 232 gear ratio and, 55 Vertical My Block, 270 Touch-Count program, 156–157 View submenu, 24 touch sensor, 4, 25–26, 276 volume of sound files, 118 Logic block to determine if two are Volume parameter, for Sound block, 81 pressed, 99 for synchronizing motors, 226 W variables to store press count, 156 Touch Sensor block, 97, 294 Wait block, 83–84, 98, 292, 295 transfer of control, 84 sensor reading, 97 treads, 288 sub-palette, 84 vehicle with, 125–138. See also Wait parameter Inventor-Bot for Motor block, 95 trigger condition, for Sensor blocks, 97–98 for Sound block, 81 troubleshooting Walk My Block, 227 the Lizard synchronization, 229 walk process, 194 the Printer, 272 Wall-Avoidance program, 184–185 by re-installing firmware, 112 Web blocks, 107, 109 USB cable, 15 web resources, 299–302 true value, 98, 99 on Bluetooth, 300 Try Me submenu, 24, 29 on building techniques, 301 turning mobile robots, 137 on buying LEGO pieces, 301 tutorial, 11, 13 educational resources, 301 Type parameter LDraw system of tools, 123, 301 for Display block, 83 LEGO Digital Designer (LDD), 123, 301 for File Access block, 106 LEGO events, 302 NXT blogs, 300 U NXT-G programs, 137 NXTLOG, 123 ultrasonic sensor, 4, 27, 277 personal sites, 302 adding to the Printer, 274 on programming, 300 adding to Sentry-Bot, 139–142 Wheel Control My Block, 183 for avoiding objects, 141 wheeled-vehicle. See Jeep, the as parking sensor, 191, 192 wheels, 43, 288 Ultrasonic Sensor block, 97, 294 speed of, 161, 184 Math block to manipulate reading, 100 widening beams, 46 undoing actions, 75

310 Index The Unofficial LEGO MINDSTORMS NXT 2.0 Inventor's Guide © 2010 by David J. Perdue