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LEGO Mindstorms NXT 2.0 instructions


Instructions for building the Shooterbot, Robogator, Color Sorter, and Alpha Rex.

Table of contents
Introduction Programming the NXT with Linux Compiling an NXC program Shooterbot 1. Driving base Building guide 2. Color detection Building guide 3. Shooter Building guide 4. Locate objects Building guide Robogator 1. Jaws Building guide 2. Eyes Building guide 3. Legs Building guide 4. Tail Building guide Color Sorter 1. Dispenser Building guide 2. Color detector Building guide 3. Sorting tray Building guide 4. Color catapult Building guide Alpha Rex 1. Legs Building guide 2. Arms Building guide 3. Head Building guide 4. Color sensor Building guide

Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide Programming guide

Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide Test guide

Introduction
The instructions for building the four main LEGO Mindstorms NXT 2.0 models are distributed only on software that does not support Linux. The instructions are reproduced here. Programming the NXT with Linux The accompanying programs supplied here are written in NXC. NXC is a simple C-like programming language supported by NBC. NBC allows you to write NXT programs and download them to the NXT. This configuration guide for NBC on Linux is useful. Compiling an NXC program A typical command to compile and download an NXC program by USB would be

nc- -=s flnm.x b d Sub ieaenc

Shooterbot
Can you build and program a Shooterbot to guard your room while you are away? 1. Driving base
Building guide
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Can you build a Shooterbot to move forward and then move back again?

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Programming guide

Can you program a Shooterbot to move forward on the test pad and then move in reverse to its start position?
/ sotro_.x / hoebt1nc / Mv fradadte rvre / oe owr n hn ees. ts mi ( ak an ) { / Mv frada 7%pwrfr2scns / oe owr t 5 oe o eod OFd(U_C,5;Wi (00; nw OTB 7) at 20) / Rvrea 7%pwrfr2scns / ees t 5 oe o eod ORv(U_C,5;Wi (00; ne OTB 7) at 20) / Bae / rk Of(U_C; f OTB)
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Test guide

Download your program. Place the Shooterbot on the test pad and run the program. 2. Color detection
Building guide

Can you build a Shooterbot to test colors on the test pad?

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Programming guide

Can you program a Shooterbot to move forward, find the red line, turn around, and then move back to its start position?
/ sotro_.x / hoebt2nc / Mv fradt terdln,tr aon,admv bc t tesat / oe owr o h e ie un rud n oe ak o h tr / psto. / oiin / Ajs ti nme t si yu srae/bteypwr / dut hs ubr o ut or ufc atr oe #eieTR_IE15 dfn UNTM 70 ts mi ( ak an ) { ln t,t; og 0 1

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/ Bigteclrsno o-ie / rn h oo esr nln

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/ Bigteclrsno o-ie / rn h oo esr nln StesrooFl (3; eSnoClrul S) / Rcr tetm we tefradmvmn sat / eod h ie hn h owr oeet trs t =Cretik(; 0 urnTc ) / Mv fradt terdln / oe owr o h e ie OFd(U_C,5; nw OTB 7) utl(NU_ECLR= SNO_) ni IPTRDOO = ESR3; t =Cretik(;/ Rcr tetm we tefradmvmn fnse 1 urnTc ) / eod h ie hn h owr oeet iihs Of(U_C; f OTB) / Tr 10dgest tergt / un 8 ere o h ih OFd(U_,7) ORv(U_,7) Wi (UNTM) Of(U_C; nw OTC 5; ne OTB 5; at TR_IE; f OTB) / Mv bc t tesat / oe ak o h tr OFd(U_C,5;Wi (1-t) Of(U_C; nw OTB 7) at t 0; f OTB) }

Test guide

Download your program. Place the Shooterbot on the test pad and run the program. 3. Shooter
Building guide

Can you build the Shooterbot to shoot balls at objects? You will have to build the shooter on the front of your Shooterbot.

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Programming guide

Can you program Shooterbot to drive around and shoot while showing different colored lights?
/ sotro_.x / hoebt3nc / Dieaon adsotwiesoigdfeetclrdlgt. / rv rud n ho hl hwn ifrn ooe ihs #eieBLES7 dfn ULT #eieFAHDRTO 30 dfn LS_UAIN 0 #eieTR_IE30 dfn UNTM 00 itblesrmiig=BLES n ult_eann ULT; bo fr =fle ol ie as; ts fahn_ihs( ak lsiglgt ) { itrdfahs n e_lse; wie(ult_eann >0 hl blesrmiig ) { / Atraebtenterd gen adbu lms / lent ewe h e, re, n le ap StesrooRd (N3;Wi (LS_UAIN; eSnoClre I_) at FAHDRTO) StesrooGen(N3;Wi (LS_UAIN; eSnoClrre I_) at FAHDRTO) StesrooBu (N3;Wi (LS_UAIN; eSnoClrle I_) at FAHDRTO) } / Idct ta n blesrmi / niae ht o ult ean fr(e_lse =1 rdfahs< 1;rdfahs+ o rdfahs ; e_lse = 0 e_lse+) { StesrooRd (N3;Wi (LS_UAIN/2; eSnoClre I_) at FAHDRTO ) StesrooNn (N3;Wi (LS_UAIN/2; eSnoClroe I_) at FAHDRTO ) } / So teporm / tp h rga SoAlak (; tplTss ) } ts sot( ak ho ) { wie(re hl tu) { / Cekwehrt fr able / hc hte o ie ult i (re= fr) f tu = ie { / Rstte'ieable'fa t fle / ee h fr ult lg o as fr =fle ie as;
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/ Dceettenme o blesrmiig / ermn h ubr f ult eann blesrmiigult_eann-; / T fr,mk mtrAd asnl 30dge rtto / o ie ae oo o ige 6 ere oain RttMtrx(U_,7,30 0 fle tu) oaeooE OTA 5 6, , as, re; } } } ts mv ( ak oe ) { wie(ult_eann >0 hl blesrmiig ) { / D arno tr / o adm un i ( = Rno () f 0 = adm 2) { / Lf tr / et un OFd(U_,7) ORv(U_,7) nw OTB 5; ne OTC 5; Wi (adm(UNTM); at Rno TR_IE) Of(U_C; f OTB) Wi (00; at 10) fr =tu; ie re Wi (00; at 10) } es le { / Rgttr / ih un OFd(U_,7) ORv(U_,7) nw OTC 5; ne OTB 5; Wi (adm(UNTM); at Rno TR_IE) Of(U_C; f OTB) Wi (00; at 10) fr =tu; ie re Wi (00; at 10) } } } ts mi ( ak an ) { / Mk teetsseeuesmlaeul atrmi ( i fnse / ae hs ak xct iutnosy fe an ) s iihd Peee (lsiglgt,sot mv) rcds fahn_ihs ho, oe; }

Test guide

Download the program. Place the Shooterbot in the middle of the test pad and run the program. 4. Locate objects
Building guide

Can you build the Shooterbot to protect your room? You will have to add the Ultrasonic Sensor to your Shooterbot.

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Programming guide

Can you program the Shooterbot to scan your room and detect objects? If an object is closer than 40cm, the Shooterbot should shine a warning light and then shoot if the object does not move away.
/ sotro_.x / hoebt4nc / I a ojc i t coe sieawriglgtadte soti / f n bet s o ls, hn ann ih n hn ho f / teojc de ntmv aa. / h bet os o oe wy #eieBLES7 dfn ULT #eieFAHDRTO 20 dfn LS_UAIN 0 #eieTRSOD4 dfn HEHL 0 #eieWRIGTM 40 dfn ANN_IE 00 #eiesattrigpwr OFd(U_,pwr;ORv(U_,pwr; dfn tr_unn(oe) nw OTC oe) ne OTB oe)

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ts mi ( ak an )

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ts mi ( ak an ) { ln t; og 0 itblesrmiig=BLES n ult_eann ULT; Stesrosed(4;/ Bigteutaoi sno o-ie eSnoLwpe S) / rn h lrsnc esr nln StesrooGen(3;/ Sttelm t so alcer eSnoClrre S) / e h ap o hw l-la wie(ult_eann >0 hl blesrmiig ) { sattrig(0; tr_unn 5) utl(esrS(4 <TRSOD;/ Sa frcoeojcs ni SnoU S) HEHL) / cn o ls bet Of(U_C;/ So trig f OTB) / tp unn t =Cretik(; 0 urnTc ) wie(Cretik( -t)<WRIGTM) hl (urnTc ) 0 ANN_IE {/ Ei tewrig-afahn rdlm / mt h ann lsig e ap StesrooNn (3;Wi (LS_UAIN; eSnoClroe S) at FAHDRTO) StesrooRd (3;Wi (LS_UAIN; eSnoClre S) at FAHDRTO) } i (esrS(4 <TRSOD f SnoU S) HEHL) { blesrmiigult_eann-; RttMtrx(U_,7,30 0 fle tu) / Sot oaeooE OTA 5 6, , as, re; / ho Wi (00;/ Gv mtrAtm t sot at 10) / ie oo ie o ho } StesrooGen(3;/ Sttelm t so alcer eSnoClrre S) / e h ap o hw l-la } Of(U_C;/ So trig f OTB) / tp unn TxOt(,LDLN4 "U O BLES,tu) etu 8 C_IE, OT F ULT" re; Wi (00; at 70) SoAlak (;/ So teporm tplTss ) / tp h rga }

Test guide

Download the program. Place the Shooterbot in the middle of the test pad and run the program.

Robogator
Can you build and program a Robogator that attacks objects and protects its territory? 1. Jaws
Building guide

Can you build a robot with jaws that open and close?

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Programming guide

Can you program your robot to open and close its jaws?
/ rbgtr1nc / ooao_.x / Oe adcoetejw / pn n ls h as / Sml temtrrtto sedeeyti nme o mlieod / ape h oo oain pe vr hs ubr f ilscns #eieRTTO_APERSLTO 5 dfn OAINSML_EOUIN 0 / Teapoiae'ere prscn'rtto o mtrA / h prxmt dges e eod oain f oo ln dsa=0 og p_ ; ts mtrsedmntr( ak oo_pe_oio ) { ln mca0 mca1 / mc= mtrrtto cut og r__, r__; / r = oo oain on usge ln ta0 ta1 nind og __, __;
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wie(re hl tu) { / Rcr tertto cutadtetm / eod h oain on n h ie mca0=Mtroainon (U_) ta0=Cretik(; r__ ooRttoCut OTA; __ urnTc ) Wi (OAINSML_EOUIN; at RTTO_APERSLTO) / Aan rcr tertto cutadtetm / gi, eod h oain on n h ie mca1=Mtroainon (U_) ta1=Cretik(; r__ ooRttoCut OTA; __ urnTc ) / Cluaeteaeaertto rt oe ta tm itra / aclt h vrg oain ae vr ht ie nevl dsa=(mca1-mca0 *10)/(__ -ta0; p_ (r__ r__) 00 ta1 __) } } ts bt ( ak ie ) { wie(re hl tu) { / Asm tejw aecoe t bgnwt -oe te / sue h as r lsd o ei ih pn hm OFd(U_,4) Wi (0) / Wi >RTTO_APERSLTO nw OTA 0; at 10; / at OAINSML_EOUIN utl(0>dsa;/ Wi utltejw hv oee adaepatclysil ni 1 p_) / at ni h as ae pnd n r rcial tl Of(U_) f OTA; / Coetejw / ls h as ORv(U_,4) Wi (0) ne OTA 0; at 10; utl(1 <dsa;/ Rvrerttosaengtv ni -0 p_) / ees oain r eaie Of(U_) f OTA; } } ts mi ( ak an ) { Peee (ie mtrsedmntr; rcds bt, oo_pe_oio) }

Test guide

Download and run the program. Your Robogator jaws should open and close. 2. Eyes
Building guide

Can you make your Robogator see objects and attack them if they get too close?

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Programming guide

Can you program your robot to bite when objects get too close?
/ rbgtr2nc / ooao_.x / Oe adcoetejw we ojcsaecoe / pn n ls h as hn bet r ls / Sml temtrrtto sedeeyti nme o mlieod / ape h oo oain pe vr hs ubr f ilscns #eieRTTO_APERSLTO 5 dfn OAINSML_EOUIN 0 / Bt ojcswihcm coe ta ti / ie bet hc oe lsr hn hs #eieTRSOD4 dfn HEHL 0 / Teapoiae'ere prscn'rtto o mtrA / h prxmt dges e eod oain f oo ln dsa=0 og p_ ; ts mtrsedmntr( ak oo_pe_oio )
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{ ln mca0 mca1 / mc= mtrrtto cut og r__, r__; / r = oo oain on usge ln ta0 ta1 nind og __, __; wie(re hl tu) { mca0=Mtroainon (U_) ta0=Cretik(; r__ ooRttoCut OTA; __ urnTc ) Wi (OAINSML_EOUIN; at RTTO_APERSLTO) mca1=Mtroainon (U_) ta1=Cretik(; r__ ooRttoCut OTA; __ urnTc ) dsa=(mca1-mca0 *10)/(__ -ta0; p_ (r__ r__) 00 ta1 __) } } ts bt ( ak ie ) { Stesrosed(4;/ Bigteutaoi sno o-ie eSnoLwpe S) / rn h lrsnc esr nln wie(re hl tu) { utl(esrS(4 <TRSOD;/ Sa frcoeojcs ni SnoU S) HEHL) / cn o ls bet / Asm tejw aecoe t bgnwt -oe te / sue h as r lsd o ei ih pn hm OFd(U_,4) Wi (0) / Wi >RTTO_APERSLTO nw OTA 0; at 10; / at OAINSML_EOUIN utl(0>dsa;/ Wi utltemtrsos ni 1 p_) / at ni h oo tp Of(U_) f OTA; / Coetejw / ls h as ORv(U_,4) Wi (0) ne OTA 0; at 10; utl(1 <dsa;/ Rvrerttosaengtv ni -0 p_) / ees oain r eaie Of(U_) f OTA; } } ts mi ( ak an ) { Peee (ie mtrsedmntr; rcds bt, oo_pe_oio) }

Test guide

Download and run the program. Move your hand towards the Robogator's eyes. The Robogator's jaws should start biting. Move your hand away and the Robogator should stop biting. 3. Legs
Building guide

Can you build a robot that can walk?

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Programming guide

Can you program the Robogator to walk forward and start biting when objects get too close?
/ rbgtr3nc / ooao_.x / Oe adcoetejw adwl fradwe ojcsaecoe / pn n ls h as n ak owr hn bet r ls / Sml temtrrtto sedeeyti nme o mlieod / ape h oo oain pe vr hs ubr f ilscns #eieRTTO_APERSLTO 5 dfn OAINSML_EOUIN 0 / Bt ojcswihcm coe ta ti / ie bet hc oe lsr hn hs #eieTRSOD4 dfn HEHL 0 / Wl fradfru t ti mn seswe a ojc i coe / ak owr o p o hs ay tp hn n bet s ls #eieMXSESFRAD3 dfn A_TP_OWR / Teapoiae'ere prscn'rtto o mtrA / h prxmt dges e eod oain f oo ln dsa=0 og p_ ; ts mtrsedmntr( ak oo_pe_oio ) { ln mca0 mca1 / mc= mtrrtto cut og r__, r__; / r = oo oain on usge ln ta0 ta1 nind og __, __; wie(re hl tu) { mca0=Mtroainon (U_) ta0=Cretik(; r__ ooRttoCut OTA; __ urnTc ) Wi (OAINSML_EOUIN; at RTTO_APERSLTO) mca1=Mtroainon (U_) ta1=Cretik(; r__ ooRttoCut OTA; __ urnTc ) dsa=(mca1-mca0 *10)/(__ -ta0; p_ (r__ r__) 00 ta1 __) } } ts bt ( ak ie ) { wie(re hl tu) { utl(esrS(4 <TRSOD;/ Sa frcoeojcs ni SnoU S) HEHL) / cn o ls bet / Asm tejw aecoe t bgnwt / sue h as r lsd o ei ih OFd(U_,4) Wi (0) / Wi >RTTO_APERSLTO nw OTA 0; at 10; / at OAINSML_EOUIN utl(0>dsa;/ Wi utltemtrsos ni 1 p_) / at ni h oo tp Of(U_) f OTA; ORv(U_,4) Wi (0) ne OTA 0; at 10;

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ORv(U_,4) Wi (0) ne OTA 0; at 10; utl(1 <dsa;/ Rvrerttosaengtv ni -0 p_) / ees oain r eaie Of(U_) f OTA; } } ts wl ( ak ak ) { itses n tp; wie(re hl tu) { utl(esrS(4 <TRSOD;/ Sa frcoeojcs ni SnoU S) HEHL) / cn o ls bet / Wl fradwiea ojc i coe / ak owr hl n bet s ls ses=0 tp ; wie(esrS(4 <TRSOD& ses<MXSESFRAD hl SnoU S) HEHL & tp A_TP_OWR) { RttMtrx(U_C -0,30 0 tu,tu) oaeooE OTB, 10 6, , re re; ses+ 1 tp = ; } } } ts mi ( ak an ) { Stesrosed(4;/ Bigteutaoi sno o-ie eSnoLwpe S) / rn h lrsnc esr nln Peee (ie mtrsedmntr wl) rcds bt, oo_pe_oio, ak; }

Test guide

Download the program. Place your alligator on the test pad and run the program. 4. Tail
Building guide

Can you build the tail and add sensors to the Robogator so it knows where its legs are?

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Programming guide

Can you program Robogator to protect its territory: lunge forward, bite, and crawl back?
/ rbgtr4nc / ooao_.x / We a ojc i coe oe adcoetejw,wl frad / hn n bet s ls: pn n ls h as ak owr, / adte mv bc / n hn oe ak / Sml temtrrtto sedeeyti nme o mlieod / ape h oo oain pe vr hs ubr f ilscns #eieRTTO_APERSLTO 5 dfn OAINSML_EOUIN 0 / Bt ojcswihcm coe ta ti / ie bet hc oe lsr hn hs #eieTRSOD6 dfn HEHL 0 / Wl fradfru t ti mn seswe a ojc i coe / ak owr o p o hs ay tp hn n bet s ls #eieMXSESFRAD3 dfn A_TP_OWR
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/ Teapoiae'ere prscn'rtto o mtrA / h prxmt dges e eod oain f oo

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/ Teapoiae'ere prscn'rtto o mtrA / h prxmt dges e eod oain f oo ln dsa=0 og p_ ; ts mtrsedmntr( ak oo_pe_oio ) { ln mca0 mca1 / mc= mtrrtto cut og r__, r__; / r = oo oain on usge ln ta0 ta1 nind og __, __; wie(re hl tu) { mca0=Mtroainon (U_) ta0=Cretik(; r__ ooRttoCut OTA; __ urnTc ) Wi (OAINSML_EOUIN; at RTTO_APERSLTO) mca1=Mtroainon (U_) ta1=Cretik(; r__ ooRttoCut OTA; __ urnTc ) dsa=(mca1-mca0 *10)/(__ -ta0; p_ (r__ r__) 00 ta1 __) } } ts bt ( ak ie ) { wie(re hl tu) { utl(esrS(4 <TRSOD;/ Sa frcoeojcs ni SnoU S) HEHL) / cn o ls bet / Asm tejw aecoe t bgnwt / sue h as r lsd o ei ih OFd(U_,4) Wi (0) / Wi >RTTO_APERSLTO nw OTA 0; at 10; / at OAINSML_EOUIN utl(0>dsa;/ Wi utltemtrsos ni 1 p_) / at ni h oo tp Of(U_) f OTA; ORv(U_,4) Wi (0) ne OTA 0; at 10; utl(1 <dsa;/ Rvrerttosaengtv ni -0 p_) / ees oain r eaie Of(U_) f OTA; } } ts wl ( ak ak ) { iti ses n , tp; / Uetetuhsnost aintelg iiily / s h oc esr o lg h es ntal OFd(U_,-0) nw OTB 10; utl( = SNO_) ni 1 = ESR1; Of(U_) RttMtr(U_,-0,4) f OTB; oaeoo OTB 10 5; OFd(U_,-0) nw OTC 10; utl( = SNO_) ni 1 = ESR2; Of(U_) RttMtr(U_,-0,4) f OTC; oaeoo OTC 10 5; wie(re hl tu) { / Wl fradwiea ojc i coe / ak owr hl n bet s ls ses=0 tp ; wie(esrS(4 <TRSOD& ses<MXSESFRAD hl SnoU S) HEHL & tp A_TP_OWR) { RttMtrx(U_C -0,30 0 tu,tu) oaeooE OTB, 10 6, , re re; ses+ 1 tp = ; } / Wl bc t teoiia psto / ak ak o h rgnl oiin Wi (00; at 10) wie(tp >0 hl ses ) { RttMtrx(U_C 9,30 0 tu,tu) oaeooE OTB, 0 6, , re re; ses- 1 tp = ; } } } ts mi ( ak an ) { Stesrosed(4;/ Bigteutaoi sno o-ie eSnoLwpe S) / rn h lrsnc esr nln Stesroc (1;/ Bigtetuhsnoso-ie eSnoTuh S) / rn h oc esr nln Stesroc (2; eSnoTuh S)

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Peee (ie mtrsedmntr wl) rcds bt, oo_pe_oio, ak; }

Test guide

Download the program. Place Robogator on the test pad and run the program.

Color Sorter
Can you build and program the Color Sorter to sort balls by color? 1. Dispenser
Building guide

Can you build a dispenser that separates balls one by one?

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Programming guide

Can you program the dispenser to tilt and dispense one ball at a time?
/ clrotr1nc / oosre_.x / Dses oebl a atm / ipne n al t ie / Tenme o blst b sre / h ubr f al o e otd #eieBLS4 dfn AL / Gttedsesri asadr psto / e h ipne n tnad oiin vi rstdsesr( od ee_ipne ) { ORv(U_,8) ne OTB 0; utl( = SNO_) ni 1 = ESR1; Of(U_) f OTB; Wi (00; at 10) } / Dses oebl / ipne n al vi dses_al( od ipnebl ) { rstdsesr(; ee_ipne ) RttMtr(U_,6,70; oaeoo OTB 0 2) Wi (00; at 10) } ts mi ( ak an ) { iti n ; / Bigtetligmcaimstuhsno o-ie / rn h itn ehns' oc esr nln Stesroc (1; eSnoTuh S) i=0 ; wie(+ <BLS hl i+ AL) { dses_al(; ipnebl ) } }

Test guide

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Download your program. Place the Color Sorter in the middle of the test pad. Put a couple of balls in the dispenser and run the program. 2. Color detector
Building guide

Can you build a color detector that can recognise the different ball colors?

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Programming guide

Can you make a program that can tell the difference between the colors of the balls?
/ clrotr2nc / oosre_.x / Dses oebl a atm -dslyteclro ec bl / ipne n al t ie ipa h oo f ah al / Tenme o blst b sre / h ubr f al o e otd #eieBLS4 dfn AL / Gttedsesri asadr psto / e h ipne n tnad oiin vi rstdsesr( od ee_ipne ) { ORv(U_,8) ne OTB 0; utl( = SNO_) ni 1 = ESR1; Of(U_) f OTB; Wi (00; at 10)
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} / Gtabl it tedsesrso / e al no h ipne lt vi la_al( od odbl ) { RttMtr(U_,6,30; oaeoo OTB 0 6) Wi (00; at 10) } vi dses_al( od ipnebl ) { RttMtr(U_,6,30; oaeoo OTB 0 6) Wi (00; at 10) } vi so_oo ( od hwclr ) { srn bl_oo ="; tig alclr " sic (ESR3 wth SNO_) { cs IPTBUCLR ae NU_LEOO: bl_oo ="LE; alclr BU" bek ra; cs IPTRDOO: ae NU_ECLR bl_oo ="E" alclr RD; bek ra; cs IPTGENOO: ae NU_RECLR bl_oo ="RE" alclr GEN; bek ra; cs IPTYLOCLR ae NU_ELWOO: bl_oo ="ELW; alclr YLO" bek ra; dfut eal: bl_oo ="OE; alclr NN" bek ra; } / So tebl clr / hw h al oo TxOt(0 LDLN3 bl_oo,tu) etu 3, C_IE, alclr re; Wi (00; at 10) } ts mi ( ak an ) { iti n ; / Bigtetligmcaimstuhsno o-ie / rn h itn ehns' oc esr nln Stesroc (1; eSnoTuh S) / Bigteclrsno o-ie / rn h oo esr nln StesrooFl (3; eSnoClrul S) i=0 ; wie(+ <BLS hl i+ AL) { / So tenme o blslf t sr / hw h ubr f al et o ot TxOt(,LDLN1 "al rmiig " tu) etu 0 C_IE, Bls eann: , re; Nmu (0 LDLN3 BLS-(-); uOt 5, C_IE, AL i1) rstdsesr(; ee_ipne ) la_al(; odbl ) so_oo (; hwclr ) dses_al(; ipnebl ) } }

Test guide

Download your program. Place the Color Sorter in the middle of the test pad. Run the program. 3. Sorting tray

Building guide

Can you build a sorting tray that allows the Color Sorter to sort the four different colored balls into their own basket?

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Programming guide

Can you program the sorting tray to spin around and place balls of the same color in the same basket?
/ clrotr3nc / oosre_.x / Paeblso tesm clri tesm bse / lc al f h ae oo n h ae akt / Asm teeaen blsrmiigatrti nme o rtis / sue hr r o al eann fe hs ubr f ere #eieRTIS2 dfn ERE / Rsttedsesn ta adtebse we teeaestt tu / ee h ipnig ry n h akt hn hs r e o re bo rstdsesrfa =fle ol ee_ipne_lg as; bo rstbse_lg=fle ol ee_aktfa as; / Gtabl it tedsesrso / e al no h ipne lt vi la_al( od odbl ) {
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Wi (00; at 20)

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Wi (00; at 20) / Saeu teblsi tedsesr / hk p h al n h ipne RttMtr(U_,9,40; oaeoo OTB 0 0) RttMtr(U_,-0 40; oaeoo OTB 9, 0) Wi (0) at 50; } vi dses_al( od ipnebl ) { RttMtr(U_,-0 30; oaeoo OTB 9, 6) Wi (00; at 10) } / So teclro tebl o teNTdsly / hw h oo f h al n h X ipa / Rtr tevleo teclro tebl t tecligts / eun h au f h oo f h al o h aln ak srn so_oo ( tig hwclr ) { srn bl_oo ="; tig alclr " sic (ESR3 wth SNO_) { cs IPTBUCLR ae NU_LEOO: bl_oo ="LE; alclr BU" bek ra; cs IPTRDOO: ae NU_ECLR bl_oo ="E" alclr RD; bek ra; cs IPTGENOO: ae NU_RECLR bl_oo ="RE" alclr GEN; bek ra; cs IPTYLOCLR ae NU_ELWOO: bl_oo ="ELW; alclr YLO" bek ra; dfut eal: bl_oo ="OE; alclr NN" bek ra; } / So tebl clr / hw h al oo TxOt(0 LDLN3 bl_oo,tu) etu 3, C_IE, alclr re; Wi (0) at 50; rtr bl_oo; eun alclr } vi ainbse (tigbl_oo) od lg_akt srn alclr { / RD YLO,GEN BU / E, ELW RE, LE i (alclr= "ELW){ f bl_oo = YLO" RttMtr(U_,3,9) oaeoo OTC 0 0; }lei (alclr= "RE" { es f bl_oo = GEN) RttMtr(U_,3,10; oaeoo OTC 0 8) }lei (alclr= "LE){ es f bl_oo = BU" RttMtr(U_,-0 9) oaeoo OTC 3, 0; } } / Gttedsesri asadr psto / e h ipne n tnad oiin ts rstdsesr( ak ee_ipne ) { wie(re hl tu) { i (re= rstdsesrfa) f tu = ee_ipne_lg { / Gttedsesrit asadr psto uigtetuhsno / e h ipne no tnad oiin sn h oc esr ORv(U_,8) ne OTB 0; utl( = SNO_) ni 1 = ESR1; Of(U_) f OTB; rstdsesrfa =fle ee_ipne_lg as; } } } ts rstbse ( ak ee_akt ) { wie(re hl tu)
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{ i (re= rstbse_lg f tu = ee_aktfa) { / Gttebse it asadr psto uigtetuhsno / e h akt no tnad oiin sn h oc esr OFd(U_,3) nw OTC 0; utl( = SNO_) / Usttetuhsno i i i st ni 0 = ESR2; / ne h oc esr f t s e utl( = SNO_) ni 1 = ESR2; Of(U_) f OTC; RttMtr(U_,-0 3) oaeoo OTC 3, 0; rstbse_lg=fle ee_aktfa as; } } } ts mi ( ak an ) { iti n ; srn bl_oo; tig alclr / Bigtetligmcaimstuhsno o-ie / rn h itn ehns' oc esr nln Stesroc (1; eSnoTuh S) / Bigtesrigmcaimstuhsno o-ie / rn h otn ehns' oc esr nln Stesroc (2; eSnoTuh S) / Bigteclrsno o-ie / rn h oo esr nln StesrooFl (3; eSnoClrul S) Satak(ee_akt; trTs rstbse) Satak(ee_ipne) trTs rstdsesr; wie(re hl tu) { / Certedsly / la h ipa Rstcen(; eeSre ) i=0 ; d o { / Rsttepstoso tedsesradtebsesi prle / ee h oiin f h ipne n h akt n aall rstdsesrfa =tu; ee_ipne_lg re rstbse_lg=tu; ee_aktfa re / Wi utltersttssaebt fnse / at ni h ee ak r oh iihd utl(as = rstdsesrfa & fle= rstbse_lg; ni fle = ee_ipne_lg & as = ee_aktfa) la_al(;/ Paeabl i tedsesrei so odbl ) / lc al n h ipne xt lt bl_oo =so_oo (; alclr hwclr ) / Cekfrabl i tedsesrei so / hc o al n h ipne xt lt }wie(+ <RTIS& "OE = bl_oo) hl +i ERE & NN" = alclr i (NN"= bl_oo) f "OE = alclr { / Asm n blsaermiig / sue o al r eann TxOt(,LDLN3 "* FNSE **,tu) etu 0 C_IE, ** IIHD *" re; Wi (00; at 40) bek ra; } ainbse (alclr; lg_akt bl_oo) dses_al(; ipnebl ) } SoAlak (; tplTss ) }

Test guide

Download your program. Place the Color Sorter in the middle of the test pad. Run the program. 4. Color catapult
Building guide
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Can you build a color catapult that throws balls in different directions?

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Programming guide

Can you program the color catapult to throw balls of the same color in the same direction?
/ clrotr4nc / oosre_.x / Cukblso tesm clri tesm drcin / hc al f h ae oo n h ae ieto / Asm teeaen blsrmiigatrti nme o rtis / sue hr r o al eann fe hs ubr f ere #eieRTIS2 dfn ERE / Rsttedsesn ta adtectpl we teeaestt tu / ee h ipnig ry n h aaut hn hs r e o re bo rstdsesrfa =fle ol ee_ipne_lg as; bo rstctpl_lg=fle ol ee_aautfa as; / Gtabl it tedsesrso / e al no h ipne lt vi la_al( od odbl ) {
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Wi (00; at 20)

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Wi (00; at 20) / Saeu teblsi tedsesr / hk p h al n h ipne RttMtr(U_,9,40; oaeoo OTB 0 0) RttMtr(U_,-0 40; oaeoo OTB 9, 0) Wi (0) at 50; } vi dses_al( od ipnebl ) { RttMtr(U_,-0 30; oaeoo OTB 9, 6) Wi (00; at 10) } / So teclro tebl o teNTdsly / hw h oo f h al n h X ipa / Rtr tevleo teclro tebl t tecligts / eun h au f h oo f h al o h aln ak srn so_oo ( tig hwclr ) { srn bl_oo ="; tig alclr " sic (ESR3 wth SNO_) { cs IPTBUCLR ae NU_LEOO: bl_oo ="LE; alclr BU" bek ra; cs IPTRDOO: ae NU_ECLR bl_oo ="E" alclr RD; bek ra; cs IPTGENOO: ae NU_RECLR bl_oo ="RE" alclr GEN; bek ra; cs IPTYLOCLR ae NU_ELWOO: bl_oo ="ELW; alclr YLO" bek ra; dfut eal: bl_oo ="OE; alclr NN" bek ra; } / So tebl clr / hw h al oo TxOt(0 LDLN3 bl_oo,tu) etu 3, C_IE, alclr re; Wi (0) at 50; rtr bl_oo; eun alclr } vi ainctpl (tigbl_oo) od lg_aaut srn alclr { / RD YLO,GEN BU / E, ELW RE, LE i (alclr= "E" { f bl_oo = RD) RttMtr(U_,3,4) oaeoo OTC 0 5; }lei (alclr= "ELW){ es f bl_oo = YLO" RttMtr(U_,3,9) oaeoo OTC 0 0; }lei (alclr= "RE" { es f bl_oo = GEN) RttMtr(U_,-0 4) oaeoo OTC 3, 5; }lei (alclr= "LE){ es f bl_oo = BU" RttMtr(U_,-0 9) oaeoo OTC 3, 0; } } / Gttedsesri asadr psto / e h ipne n tnad oiin ts rstdsesr( ak ee_ipne ) { wie(re hl tu) { i (re= rstdsesrfa) f tu = ee_ipne_lg { / Gttedsesrit asadr psto uigtetuhsno / e h ipne no tnad oiin sn h oc esr ORv(U_,8) ne OTB 0; utl( = SNO_) ni 1 = ESR1; Of(U_) f OTB; rstdsesrfa =fle ee_ipne_lg as; } } } ts rstctpl ( ak ee_aaut )
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wie(re hl tu) { i (re= rstctpl_lg f tu = ee_aautfa) { / Gttectpl it asadr psto uigtetuhsno / e h aaut no tnad oiin sn h oc esr OFd(U_,3) / Usttetuhsno i i i stb mvn twr tefots nw OTC 0; / ne h oc esr f t s e y oig oad h rn utl( = SNO_) ni 0 = ESR2; OFd(U_,-0;/ Mv bc utltetuhsno atvts nw OTC 3) / oe ak ni h oc esr ciae utl( = SNO_) ni 1 = ESR2; Of(U_) f OTC; RttMtr(U_,-0 1) / Asih ajsmn frpretainet oaeoo OTC 3, 5; / lgt dutet o efc lgmn rstctpl_lg=fle ee_aautfa as; } } } ts mi ( ak an ) { iti n ; srn bl_oo; tig alclr / Bigtetligmcaimstuhsno o-ie / rn h itn ehns' oc esr nln Stesroc (1; eSnoTuh S) / Bigtesrigmcaimstuhsno o-ie / rn h otn ehns' oc esr nln Stesroc (2; eSnoTuh S) / Bigteclrsno o-ie / rn h oo esr nln StesrooFl (3; eSnoClrul S) Satak(ee_aaut; trTs rstctpl) Satak(ee_ipne) trTs rstdsesr; wie(re hl tu) { / Certedsly / la h ipa Rstcen(; eeSre ) i=0 ; d o { / Rsttepstoso tedsesradtectpl i prle / ee h oiin f h ipne n h aaut n aall rstdsesrfa =tu; ee_ipne_lg re rstctpl_lg=tu; ee_aautfa re / Wi utltersttssaebt fnse / at ni h ee ak r oh iihd utl(as = rstdsesrfa & fle= rstctpl_lg; ni fle = ee_ipne_lg & as = ee_aautfa) la_al(;/ Paeabl i tedsesrei so odbl ) / lc al n h ipne xt lt bl_oo =so_oo (; alclr hwclr ) / Cekfrabl i tedsesrei so / hc o al n h ipne xt lt }wie(+ <RTIS& "OE = bl_oo) hl +i ERE & NN" = alclr i (NN"= bl_oo) f "OE = alclr { / Asm n blsaermiig / sue o al r eann TxOt(,LDLN3 "* FNSE **,tu) etu 0 C_IE, ** IIHD *" re; Wi (00; at 40) bek ra; } dses_al(; ipnebl ) ainctpl (alclr; lg_aaut bl_oo) / Fr tectpl / ie h aaut OFd(U_,10;Wi (0) Of(U_) nw OTA 0) at 50; f OTA; OFd(U_,-0) Wi (0) Of(U_) nw OTA 10; at 50; f OTA; / Mv tectpl bc oe t tefotsd,rayfrrstigispsto / oe h aaut ak vr o h rn ie ed o eetn t oiin i (alclr= "RE" { f bl_oo = GEN) RttMtr(U_,3,4+0; oaeoo OTC 0 59) }lei (alclr= "LE){ es f bl_oo = BU" RttMtr(U_,3,9+0; oaeoo OTC 0 09)
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} } SoAlak (; tplTss ) }

Test guide

Download your program. Place the Color Sorter in the middle of the test pad and make sure the axle is placed in the centre. Run the program.

Alpha Rex
Can you build and program the Alpha Rex to walk? 1. Legs
Building guide

Can you build a pair of legs that can walk?

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Programming guide

Can you build a pair of legs that test walk in place, and then walk forwards and backwards?
/ apae_.x / lhrx1nc / Wl i pae adfrad,adbcwrs / ak n lc, n owrs n akad. / Tredrcin frwlig / he ietos o akn #eieIPAE 0 dfn NLC #eieFRAD 1 dfn OWRS #eieBCWRS2 dfn AKAD

/ Gttelg i asadr psto / e h es n tnad oiin / MtrB&tuhsno 1-- rgtlg / oo oc esr -> ih e / MtrC&tuhsno 2-- lf lg / oo oc esr -> et e vi rstlg ( od ee_es )
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{ i ( = SNO_) f 1 = ESR1 { OFd(U_,5) Wi (0) nw OTB 0; at 30; utl( = SNO_) ni 0 = ESR1; Of(U_) f OTB; } OFd(U_,5) nw OTB 0; utl( = SNO_) ni 1 = ESR1; Of(U_) f OTB; i ( = SNO_) f 1 = ESR2 { OFd(U_,5) Wi (0) nw OTC 0; at 30; utl( = SNO_) ni 0 = ESR2; Of(U_) f OTC; } OFd(U_,5) nw OTC 0; utl( = SNO_) ni 1 = ESR2; Of(U_) f OTC; } vi wl (n drcin usge ln drto) od ak it ieto, nind og uain { usge ln t; nind og 0 rstlg (; ee_es ) Wi (00; at 20) RttMtr(U_,7,4) / Ptrgtlgdw oaeoo OTB 0 5; / u ih e on RttMtr(U_,-0 10;/ Ptlf lgu oaeoo OTC 7, 5) / u et e p t =Cretik(; 0 urnTc ) sic (ieto) wth drcin { cs IPAE ae NLC: wie(urnTc ( -t <drto) hl Cretik ) 0 uain { OFd(U_,7) OFd(U_,-0; nw OTB 0; nw OTC 7) } bek ra; cs FRAD: ae OWRS wie(urnTc ( -t <drto) hl Cretik ) 0 uain { OFdyc(U_C 5,0; nwSn OTB, 0 ) } bek ra; cs BCWRS ae AKAD: wie(urnTc ( -t <drto) hl Cretik ) 0 uain { ORvyc(U_C 5,0; neSn OTB, 0 ) } bek ra; } Of(U_C; f OTB) } ts mi ( ak an ) { / Bigtetuhsnoso-ie / rn h oc esr nln Stesroc (1;Stesroc (2; eSnoTuh S) eSnoTuh S) wl (NLC, 50) Wi (00; ak IPAE 00; at 20) wl (AKAD,50) Wi (00; ak BCWRS 00; at 20) wl (OWRS 50) Wi (00; ak FRAD, 00; at 20) }

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Test guide

Download the program. Place the Alpha Rex on the test pad. Run the program. 2. Arms
Building guide

Can you build the Alpha Rex with a pair of arms and moveable hands?

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Programming guide

Can you program the arms to move back and forth while the hands open and close?
/ apae_.x / lhrx2nc / Mv team bc adfrh / oe h rs ak n ot ts mi ( ak an ) { wie(re hl tu) { / tr rgt-oe lf hn / un ih pn et ad RttMtr(U_,10 26) oaeoo OTA 0, *0; / bc t cne / ak o etr RttMtr(U_,-0,26) oaeoo OTA 10 *0; Wi (00; at 10) / tr lf -oe rgthn / un et pn ih ad RttMtr(U_,-0,26) oaeoo OTA 10 *0; / bc t cne / ak o etr RttMtr(U_,10 26) oaeoo OTA 0, *0; Wi (00; at 10) } }

Test guide

Download the program. Place the Alpha Rex on the test pad. Run the program. 3. Head
Building guide

Can you build the Alpha Rex to see? You will have to build a head on it!

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Programming guide

Can you program the Alpha Rex to move forward when it sees an object?
/ apae_.x / lhrx3nc / Mv fradwe a ojc i vsbe / oe owr hn n bet s iil / Wl fradwe ojcscm coe ta ti / ak owr hn bet oe lsr hn hs #eieTRSOD5 dfn HEHL 0 / Tredrcin frwlig / he ietos o akn #eieIPAE 0 dfn NLC #eieFRAD 1 dfn OWRS #eieBCWRS2 dfn AKAD

/ Gttelg i asadr psto / e h es n tnad oiin / MtrB&tuhsno 1-- rgtlg / oo oc esr -> ih e / MtrC&tuhsno 2-- lf lg / oo oc esr -> et e vi rstlg ( od ee_es ) { i ( = SNO_) f 1 = ESR1 { OFd(U_,5) Wi (0) nw OTB 0; at 30; utl( = SNO_) ni 0 = ESR1; Of(U_) f OTB; } OFd(U_,5) nw OTB 0; utl( = SNO_) ni 1 = ESR1; Of(U_) f OTB; i ( = SNO_) f 1 = ESR2 { OFd(U_,5) Wi (0) nw OTC 0; at 30; utl( = SNO_) ni 0 = ESR2; Of(U_) f OTC; } OFd(U_,5) nw OTC 0; utl( = SNO_) ni 1 = ESR2; Of(U_) f OTC; } vi wl (n drcin usge ln drto) od ak it ieto, nind og uain { usge ln t; nind og 0
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RttMtr(U_,7,4) / Ptrgtlgdw oaeoo OTB 0 5; / u ih e on

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RttMtr(U_,7,4) / Ptrgtlgdw oaeoo OTB 0 5; / u ih e on RttMtr(U_,-0 10;/ Ptlf lgu oaeoo OTC 7, 5) / u et e p t =Cretik(; 0 urnTc ) sic (ieto) wth drcin { cs IPAE ae NLC: OFd(U_,5) OFd(U_,-0; nw OTB 0; nw OTC 5) utl(urnTc ( -t >drto) ni Cretik ) 0 uain; bek ra; cs FRAD: ae OWRS OFdyc(U_C 5,0; nwSn OTB, 0 ) utl(urnTc ( -t >drto) ni Cretik ) 0 uain; bek ra; cs BCWRS ae AKAD: ORvyc(U_C 5,0; neSn OTB, 0 ) utl(urnTc ( -t >drto) ni Cretik ) 0 uain; bek ra; } Of(U_C; f OTB) rstlg (; ee_es ) } ts mi ( ak an ) { Stesroc (1;Stesroc (2;/ Bigtetuhsnoso-ie eSnoTuh S) eSnoTuh S) / rn h oc esr nln Stesrosed(4;/ Bigteutaoi sno o-ie eSnoLwpe S) / rn h lrsnc esr nln rstlg (; ee_es ) Wi (0) at 50; wie(re hl tu) { utl(esrS(4 <TRSOD; ni SnoU S) HEHL) wl (OWRS 50) Wi (00; ak FRAD, 00; at 20) } }

Test guide

Download the program. Place the Alpha Rex on the test pad. Run the program. 4. Color sensor
Building guide

Can you make the Alpha Rex detect colors by adding the Color Sensor?

12/30/12

NXT 2.0 Instructions

Programming guide

Can you program the Alpha Rex to ask for the green ball and then identify it? The Alpha Rex should identify and reject balls in other colors.
/ apae_.x / lhrx4nc / Akfragenbl / s o re al / TD Ueaviet akfragenbl we ncad / OO s oc o s o re al hn x ds / spotfrsudflso Lnx / upr o on ie n iu / Akfrabl we a ojc i coe ta ti / s o al hn n bet s lsr hn hs #eieTRSOD5 dfn HEHL 0 / Tredrcin frwlig / he ietos o akn #eieIPAE 0 dfn NLC
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#eieFRAD 1 dfn OWRS

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NXT 2.0 Instructions

#eieFRAD 1 dfn OWRS #eieBCWRS2 dfn AKAD vi do_al( od rpbl ) { RttMtr(U_,-0,26) Wi (0) oaeoo OTA 10 *0; at 80; / bc t cne / ak o etr RttMtr(U_,10 26) oaeoo OTA 0, *0; } / Gttelg i asadr psto / e h es n tnad oiin / MtrB&tuhsno 1-- rgtlg / oo oc esr -> ih e / MtrC&tuhsno 2-- lf lg / oo oc esr -> et e vi rstlg ( od ee_es ) { i ( = SNO_) f 1 = ESR1 { OFd(U_,5) Wi (0) nw OTB 0; at 30; utl( = SNO_) ni 0 = ESR1; Of(U_) f OTB; } OFd(U_,5) nw OTB 0; utl( = SNO_) ni 1 = ESR1; Of(U_) f OTB; i ( = SNO_) f 1 = ESR2 { OFd(U_,5) Wi (0) nw OTC 0; at 30; utl( = SNO_) ni 0 = ESR2; Of(U_) f OTC; } OFd(U_,5) nw OTC 0; utl( = SNO_) ni 1 = ESR2; Of(U_) f OTC; } vi wl (n drcin usge ln drto) od ak it ieto, nind og uain { usge ln t; nind og 0 RttMtr(U_,7,4) / Ptrgtlgdw oaeoo OTB 0 5; / u ih e on RttMtr(U_,-0 10;/ Ptlf lgu oaeoo OTC 7, 5) / u et e p t =Cretik(; 0 urnTc ) sic (ieto) wth drcin { cs IPAE ae NLC: OFd(U_,5) OFd(U_,-0; nw OTB 0; nw OTC 5) utl(urnTc ( -t >drto) ni Cretik ) 0 uain; bek ra; cs FRAD: ae OWRS OFdyc(U_C 5,0; nwSn OTB, 0 ) utl(urnTc ( -t >drto) ni Cretik ) 0 uain; bek ra; cs BCWRS ae AKAD: ORvyc(U_C 5,0; neSn OTB, 0 ) utl(urnTc ( -t >drto) ni Cretik ) 0 uain; bek ra; } Of(U_C; f OTB) rstlg (; ee_es ) } ts mi ( ak an ) { Stesroc (1;Stesroc (2;/ Bigtetuhsnoso-ie eSnoTuh S) eSnoTuh S) / rn h oc esr nln Stesrosed(4;/ Bigteutaoi sno o-ie eSnoLwpe S) / rn h lrsnc esr nln StesrooFl (3;/ Bigteclrsno o-ie eSnoClrul S) / rn h oo esr nln

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NXT 2.0 Instructions

rstlg (; ee_es ) Wi (0) at 50; wie(re hl tu) { utl(esrS(4 <TRSOD; ni SnoU S) HEHL) / Dslyamsae / ipa esg TxOt(,LDLN1 " etu 0 C_IE, GV M A IE E " tu) , re; TxOt(,LDLN3 " **GEN** " fle; etu 0 C_IE, * RE * , as) TxOt(,LDLN5 " etu 0 C_IE, BL AL " fle; , as) / Wi utlabl i pae i tergthn / at ni al s lcd n h ih ad utl(NU_LCCLR! SNO_) ni IPTBAKOO = ESR3; Wi (00; at 20) Rstcen(; eeSre ) i (NU_RECLR= SNO_) f IPTGENOO = ESR3 { / D adne / o ac wl (NLC,50) ak IPAE 00; / Rlaetebl / ees h al do_al(; rpbl ) } es le { / Mv frad / oe owr wl (OWRS 50) ak FRAD, 00; / Do tebl / rp h al do_al(; rpbl ) / Mv bc / oe ak wl (AKAD,50) ak BCWRS 00; } Wi (00; at 10) } }

Test guide

Download the program. Place the Alpha Rex on the test pad. Before running the program, the Alpha Rex's hands should be closed and pointed forward (do this by turning the gear on the right side of its back). Run the program.

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