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a 3, the SWITCH blocks takes that value, notices that it equals the 3 in the third condition, and then executes any blocks found on the third tab. Easy! One final warning, though what happens if the RANDOM block goes crazy and sends a value of 4 to the SWITCH block There is no condition that has a matching value of 4, so what will happen Well, remember when you selected a condition and clicked the * button and a checkmark appeared next to the condition That checkmark also specifies the default condition. Look back at Figure 12-16. The checkmark is next to the third tab. This means that if a value of 4 is provided by the RANDOM block and 4 isn t a possible value in the Condition section, the default path will be chosen. So the blocks in the third tab will execute for a value of 4, 5, 100, or any other number except for 1 and 2. The SWITCH block is a very useful block for giving your robots some powerful decisionmaking skills. The SWITCH block can use Logic values (True or False), Numbers, Text, and sensors to determine which paths are chosen by your robot to execute. Keep this in mind when you need to give your robots the ability to make different decisions based on different types of input. As your programming skills progress, you ll find the SWITCH block one of your favorite tools to use. Next, we ll be looking into some specialty blocks.

Figure 5 8. DemoBot with shields around the Light sensors to limit the effect of outside light on the light readings

set its Title attribute to Title: (or whatever you prefer), click the Draws background checkbox, and then click the Background color well to set a color.

his will be another short chapter. How much can one really say about a block that simply stops your program from running

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Color wells in Mac OS X programs have a subtle property that users don t always immediately notice, which can cause some confusion. That is, the color well has a border that indicates when it is active. You will see on the Attributes panel in Figure 3 16 that there are color wells for the background and foreground, but only one Color Settings panel. How do you know which color well is the one whose color you are changing It s the one with the dark border. This may be obvious to you, dear reader, but many Mac users don t notice it even though it is a widely used feature of Mac OS X. You can toggle the active state of a color well by clicking the border. This is useful when you want to play with the Color Settings panel without the change appearing in your control. The final component to add to your user interface is a Text View (under Inputs & Values). Size it and position it to fit in the remaining space. Your user interface should look something like the left side of Figure 3 8.

In 3, we talked about going straight and having a well-tuned robot. I mentioned using the field environment for help in traveling a straight line, such as running along the wall of the field with wall followers. Well, another great way to navigate along the field is to follow any lines that may be present on the field map. For example, the FLL 2009 Smart Move field was a line follower s dream. There were nice thick black lines that could guide a robot to most of the important places on the field. In fact, those lines were placed specifically to encourage teams to incorporate line following, or at least line detection, in their robot s logic. I believe a lot of teams recognize that line following is useful but struggle with how to build and develop a good line-following robot. The code doesn t have to be scary. Yes, you can have some very complicated line-following logic and use lots of fancy algorithms to keep your robot traveling smoothly, but there are simple solutions as well. I will try to explain some of the different techniques available. Remember, though, that these are just examples. I encourage your team to use these as a starting point and build on them; see how much better you can make them.

Now run the simulator (File Simulate Interface or R) and try changing the window size (see right side of Figure 3 8). Horrible, isn t it The problem is that Interface Builder has no way of knowing how you want the individual components to behave when the containing window changes size. The results are rarely what you want, so you need to explicitly set the Autosizing behavior that you expect. You do this in the Size tab of the Inspector window. First, a general description of how the Autosizing controls work, then you can work through each one.

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