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ROBOTC

Sensing

Forward Until Dark / Light • 7

Carnegie Mellon Robotics Academy / For use with LEGO

MINDSTORMS® Education NXT software and base set 9797

Forward until Dark Wait for Dark

1. Open “sonar1”, the Ultrasonic Sensor program from the Wall Detection (Ultrasonic) lesson.

Reminder! Light sensor readings and other numbers used in this printed guide may

not be right for your environment. Your room’s lighting and the position of the sun and

shadows will cause light sensor readings to vary. Measure often!

So higher is brighter, and lower is darker, but if you remember from the last time we worked with

a large range of values, we set a threshold to separate the two values we care about. Before we

can set a threshold for the Light Sensor, we need to know what values mean ‘Light” and what

values mean “Dark.” Let’s take some readings to nd out.

In this lesson, you will use the Light Sensor and the Threshold you calculated in the previous

section to adapt your Ultrasonic Wall Detector program to detect a dark line instead.

1a. Open Program

Select File > Open and Compile

to retrieve your old program.

1b. Select the program

Select “sonar1”.

2c. Open the program

Press Open to open

the saved program.

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