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Where the Logic data type really comes in handy, however, is with the LOOP and SWITCH blocks (these are covered in s 11 and 12, respectively). Logic data types are very useful when programming a bot to make decisions on its own, and the LOOP and SWITCH blocks can both use a Yes/No response (as input) to give your robot more complex behaviors and control of itself. The bot can examine a sensor, motor, or other type of input and, based on the Yes/No response, make further decisions about what it does next.

Figure 8-16. Another MOVE block closes the carrier. Before you program the StringBot to return to its starting position, throw in one more WAIT block, just in case the StringBot is swinging on the string (see Figure 8-17).

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Before we leave this chapter, let s take a look at a few more examples of NXT-G blocks that use the Yes/No Logic data type. Keep in mind that many blocks use a Yes or No answer to control actions. In these cases, a Yes or No answer isn t so much an affirmative or negative response as it is simply a way for a block to distinguish between two actions. Here s a perfect example of this situation. Figure 8-5 shows a MOVE block s data hub.

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To demonstrate this new concept, I m going to create a simple program for SPOT that I d like you to follow along and create yourself. First, let me explain what I want SPOT to do using pseudo-code: Me: SPOT, I want you to move forward along a circular path for 3.5 rotations and then use your speaker to beep! Do this two more times (for a total of three times), and then check to see if your Light sensor detects a Light level greater than 90. If the Light sensor is not triggered, repeat this entire process. I can use a LOOP block to hold a MOVE block and a SOUND block that will repeat three times. This is shown in Figure 11-12.

Our final task for the StringBot is to return to its starting position and get another object to drop. But before finishing up the programming, I do want to talk about the importance of testing your bot before putting it into actual use.

Figure 8-5. The MOVE block has two data ports that use the Logic data type. For the MOVE block, you can configure the direction (forward or backward) using the configuration panel; you simply click the Up or Down arrow in the Direction section to assign a spin direction. But the direction of spin can also be controlled by sending a Yes or No signal to the Direction Data Plug (see Figure 8-5). A Yes signal is interpreted as Forward and a No signal is interpreted as Backward. The same concept works for the Next Action section you can use a Yes signal to indicate that the robot should brake when the spin action is completed or a No signal to tell the robot to coast!

During my first test of the StringBot, I made a huge mistake. Take a look at Figure 8-18 and you ll notice that the final bit of programming I added was a LOOP block with a MOVE block inside. The MOVE block was configured with a Duration of Unlimited, and the LOOP block was again configured to respond to the Sound Sensor. And that was my mistake.

How might you use this I ve created a small program in Figure 8-6. It has the Touch sensor mentioned earlier in this chapter. You ll learn all about this sensor in 9, but for now focus on the Touch sensor s data hub. I ve dragged a wire from its Yes/No output plug into the MOVE block s Direction input plug.

Figure 11-12. This LOOP block contains a MOVE block and a SOUND block and will use a Count of 3. I ve dropped a MOVE block and a SOUND block inside this LOOP block. In the Control section, you ll see that I ve selected the Count option and set it to 3. The next thing I want to do is see if the Light sensor is triggered. I ve added and configured the Light sensor in Figure 11-13.

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