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LEGO MINDSTORMS NXT-G Programming Guide
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®
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James Floyd Kelly
LEGO® MINDSTORMS® NXT-G Programming Guide Copyright © 2007 by James Floyd Kelly
All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or by any information storage or retrieval system, without the priorwritten permission of the copyright owner and the publisher. ISBN-13 (pbk): 978-1-59059-871-9 ISBN-10 (pbk): 1-59059-871-7 Printed and bound in the United States of America 9 8 7 6 5 4 3 2 1 Trademarked names may appear in this book. Rather than use a trademark symbol with every occurrence of a trademarked name, we use the names only in an editorial fashion and to the benefit of the trademarkowner, with no intention of infringement of the trademark. Lead Editors: Jim Sumser/Jonathan Hassell Technical Reviewer: Fay Rhodes Editorial Board: Steve Anglin, Ewan Buckingham, Gary Cornell, Jonathan Gennick, Jason Gilmore, Jonathan Hassell, Chris Mills, Matthew Moodie, Jeffrey Pepper, Ben Renow-Clarke, Dominic Shakeshaft, Matt Wade, Tom Welsh Project Manager: Richard Dal Porto Copy Edit Manager:Nicole Flores Copy Editor: Heather Lang Assistant Production Director: Kari Brooks-Copony Senior Production Editor: Laura Cheu Compositor: Ellie Fountain Proofreader: April Eddy Indexer: Broccoli Information Management Artist: Kinetic Publishing Services, LLC Cover Designer: Kurt Krames Manufacturing Director: Tom Debolski Distributed to the book trade worldwide by Springer-Verlag New York, Inc.,233 Spring Street, 6th Floor, New York, NY 10013. Phone 1-800-SPRINGER, fax 201-348-4505, e-mail orders-ny@springer-sbm.com, or visit http://www.springeronline.com. For information on translations, please contact Apress directly at 2855 Telegraph Avenue, Suite 600, Berkeley, CA 94705. Phone 510-549-5930, fax 510-549-5939, e-mail info@apress.com, or visit http:// www.apress.com. The information inthis book is distributed on an “as is” basis, without warranty. Although every precaution has been taken in the preparation of this work, neither the author(s) nor Apress shall have any liability to any person or entity with respect to any loss or damage caused or alleged to be caused directly or indirectly by the information contained in this work. The source code for this book is available toreaders at http://www.apress.com in the Source Code/ Download section.
For Dan, Belle, Sarah, and Jake—my “Texas family”
Contents at a Glance
About the Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi About the Technical Reviewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . xiii Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii
■CHAPTER 1 ■CHAPTER 2 ■CHAPTER 3 ■CHAPTER 4■CHAPTER 5 ■CHAPTER 6 ■CHAPTER 7 ■CHAPTER 8 ■CHAPTER 9 ■CHAPTER 10 ■CHAPTER 11 ■CHAPTER 12 ■CHAPTER 13 ■CHAPTER 14 ■CHAPTER 15 ■CHAPTER 16 ■CHAPTER 17 ■CHAPTER 18 ■CHAPTER 19 ■CHAPTER 20 ■CHAPTER 21
iv
Robots and Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Program Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Hello World! . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Get Movin’. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Record and Play Back . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Make Some Noise! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Wired! . . . . . . . . . . . . . . . . . . . ....
®
®
■■■
James Floyd Kelly
LEGO® MINDSTORMS® NXT-G Programming Guide Copyright © 2007 by James Floyd Kelly
All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or by any information storage or retrieval system, without the priorwritten permission of the copyright owner and the publisher. ISBN-13 (pbk): 978-1-59059-871-9 ISBN-10 (pbk): 1-59059-871-7 Printed and bound in the United States of America 9 8 7 6 5 4 3 2 1 Trademarked names may appear in this book. Rather than use a trademark symbol with every occurrence of a trademarked name, we use the names only in an editorial fashion and to the benefit of the trademarkowner, with no intention of infringement of the trademark. Lead Editors: Jim Sumser/Jonathan Hassell Technical Reviewer: Fay Rhodes Editorial Board: Steve Anglin, Ewan Buckingham, Gary Cornell, Jonathan Gennick, Jason Gilmore, Jonathan Hassell, Chris Mills, Matthew Moodie, Jeffrey Pepper, Ben Renow-Clarke, Dominic Shakeshaft, Matt Wade, Tom Welsh Project Manager: Richard Dal Porto Copy Edit Manager:Nicole Flores Copy Editor: Heather Lang Assistant Production Director: Kari Brooks-Copony Senior Production Editor: Laura Cheu Compositor: Ellie Fountain Proofreader: April Eddy Indexer: Broccoli Information Management Artist: Kinetic Publishing Services, LLC Cover Designer: Kurt Krames Manufacturing Director: Tom Debolski Distributed to the book trade worldwide by Springer-Verlag New York, Inc.,233 Spring Street, 6th Floor, New York, NY 10013. Phone 1-800-SPRINGER, fax 201-348-4505, e-mail orders-ny@springer-sbm.com, or visit http://www.springeronline.com. For information on translations, please contact Apress directly at 2855 Telegraph Avenue, Suite 600, Berkeley, CA 94705. Phone 510-549-5930, fax 510-549-5939, e-mail info@apress.com, or visit http:// www.apress.com. The information inthis book is distributed on an “as is” basis, without warranty. Although every precaution has been taken in the preparation of this work, neither the author(s) nor Apress shall have any liability to any person or entity with respect to any loss or damage caused or alleged to be caused directly or indirectly by the information contained in this work. The source code for this book is available toreaders at http://www.apress.com in the Source Code/ Download section.
For Dan, Belle, Sarah, and Jake—my “Texas family”
Contents at a Glance
About the Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi About the Technical Reviewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . xiii Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii
■CHAPTER 1 ■CHAPTER 2 ■CHAPTER 3 ■CHAPTER 4■CHAPTER 5 ■CHAPTER 6 ■CHAPTER 7 ■CHAPTER 8 ■CHAPTER 9 ■CHAPTER 10 ■CHAPTER 11 ■CHAPTER 12 ■CHAPTER 13 ■CHAPTER 14 ■CHAPTER 15 ■CHAPTER 16 ■CHAPTER 17 ■CHAPTER 18 ■CHAPTER 19 ■CHAPTER 20 ■CHAPTER 21
iv
Robots and Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Program Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Hello World! . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Get Movin’. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Record and Play Back . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Make Some Noise! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Wired! . . . . . . . . . . . . . . . . . . . ....
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