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Okay, at this point, our little bot has made it to the center of the room, turned left, paused, and then taken the picture. Looking at the Task List, I see that my next step is Move forward until black obsidian ring is detected and stop. I want my bot to start moving forward until its Light Sensor detects the black obsidian rock surrounding the basket. I also want the bot to move forward slowly so it doesn t get too close to the basket. When the Light Sensor detects a change in the reflected light, I want the bot to stop. Back in 10, I told you how to test your Light Sensor to obtain a reading for a normal surface and an obsidian surface. When I tested my normal floor (a light-colored wood floor), the Light Sensor returned a value of 25. When I placed the dark paper (black) under the Light Sensor, I got a value of 10. Your values will probably differ a bit. I m going to program my Light Sensor to check for a value of 15 or less to be safe. When the Light Sensor is triggered (value of 15 or less), the bot will stop moving forward because it has detected the obsidian surface. Now, to keep the bot moving forward until the Light Sensor is triggered, you re going to need to use a LOOP block configured to test the Light Sensor. You can see the settings for the LOOP block in Figure 12-7.

11 Create a css section in the header of the page Alternatively, you could create a new CSS file and link it in the header

Using a stream is simple; first you create it, and then you start reading and writing bytes left and right. Here s some sample code I wrote that moves data into and out of a memory stream. It s loosely based on the code you ll find in the MSDN documentation for the MemoryStream class.

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12 We will first format the label This will allow us to create a solid left margin for the text boxes Create a label section in the CSS a Set the width property to a size that looks good I used 7 em b Set the text-align property to right c The labels and the input boxes are a little cramped Set a right margin to increase the space between the objects I set it to 1em d Set the float property to left and the display property to block e Set the text-weight property to bold If necessary, increase the width until your text fits on one line

' ----- The Stream, or There and Back Again. Dim position As Integer Dim memStream As IO.MemoryStream Dim sourceChars( ) As Byte Dim destBytes( ) As Byte Dim destChars( ) As Char Dim asUnicode As New System.Text.UnicodeEncoding( ) ' ----- Create a memory stream with room for 100 bytes. memStream = New IO.MemoryStream(100) ' ----- Convert the text data to a byte array. sourceChars = asUnicode.GetBytes( _ "This is a test of the emergency programming system.") Try ' ----- Store the byte-converted data in the stream. memStream.Write(sourceChars, 0, sourceChars.Length)

To make the bot actually approach the basket, throw in a MOVE block. You ll configure this block a little differently than other LOOP blocks you configured for the earlier bots. With this MOVE block, instead of configuring motors B and C with a Duration of Unlimited, you ll have them move forward for one rotation of the wheels. After each rotation, the Light Sensor will check to see if it s over the obsidian surface. If it isn t, the bot will move forward another rotation of the wheels, and the Light Sensor will check again. By doing it this way, you can make sure the bot doesn t rush forward quickly and cross too far over the obsidian ring (see Figure 12-8).

label { width: 7em; float: left; text-align: right; margin-right: 1em; display: block; text-weight:bold; }

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