From a programming standpoint, I wanted the program to evaluate two sensors at the same time – which was done by running a loop conditioned to end by a logical value, in which I ran two readings passed on to an OR logic block. This creates a relatively fluid obstacle avoidance routine, as you can see on the video. Hope you enjoy it!

• matsuRobotV3 from several different angles:
• matsuRobotV3 Program
• matsuRobotV3 Quicktime video
• matsuRobotV3 Windows Media video

Here are the results of this first week, this is my second robot “designed” by me (if you call “lets see where this is going while I’m building it” approach anything resembling the act of designing something), and the software I “wrote” in NXT-G. The program is basically:

1. make the robot go forward until it stops if
2. the distance as measured by the ultrasonic sensor in front is less than a certain distance
3. backs the robot up a bit
4. turns the sensor platform 90º to the right
5. captures the distance into variable R90
6. turns the sensor platform 180º to the left
7. captures the distance into variable L90
8. turns the sensor platform 90º to the right (to reposition it forward)
9. compares the distances stored on variables L90 and R90
10. makes the robot turn 90º left or right depending on which side has the furthest distance available
11. loop to the beginning

The robot:

The program:

The robot in action – Windows Media or Quicktime