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In most situations, the NXT Light Sensor is not one of the better choices for collision detection because of how the sensor works. The sensor looks for levels of light reflected back to the sensor s input device; detecting objects with such a method would be unpredictable at best. Light sensors are great for detecting markings on the game field but not so good at detecting when the robot has come in contact with an obstacle. In theory, you could have the Light Sensor facing forward, and when it detects no reflected light at all, assume your robot has made contact with a wall or other object, but you couldn t be sure since other things such as shadows or changing light conditions could produce false positive results. One trick you could use that makes use of the NXT Light Sensor for collision detection would be to build a special bumper that gives the Light Sensor different readings when the bumper is pressed. In Figure 7 11, you can see a Light Sensor mounted over a set of black TECHNIC beams. When the bumper is in its resting state, the sensor would read a low light level since it is pointing at the black beams. But when the bumper is pressed, as in Figure 7 12, the black beams are removed from in front of the Light Sensor and a higher light level reading would be read. Having a properly calibrated Light Sensor would be important when using a Light Sensor in such a way due to the fact that outside light sources could affect the levels of light that are read by the sensor when the bumper is closed or open.

Call your code from another VBA procedure Code can form subroutines or functions that can then be used within other macros written on the same spreadsheet For example, say you have to search a string of text for a particular character and you write a subroutine to do this, using a parameter to pass the text string to the subroutine You can use this subroutine as a building block by calling it from anywhere else within other procedures in exactly the same way you would a normal VBA keyword Click directly on your code and press F5 This is for development work only For example, if you are working on a subroutine in isolation, you may wish to run it only to see how it works All these methods are dealt with in further detail later in the book A VBA project normally uses at least one module to store the necessary functions and subroutines known as procedures To insert a new module, simply select Insert | Module from the VBE menu, and the new module will appear Note that this contains only a general area initially It has no events, as with the form and report code sheets You can enter subroutines or functions here and make them public or private The distinction between public and private is to decide whether other modules within the same workbook can access the procedure If the code is private, it can only be used in the current module where it resides If it is public, it can be used by any other procedure in any other module in the database Should you have a subroutine you do not want used elsewhere in the code, make the subroutine private The default is always public

2 You have these options for flagged spellings:

instance, or click Ignore All for all instances (See the accompanying Note for an explanation of why you may not see Ignore All when the dialog box first appears)

Subroutines and functions are two types of code procedures On casual inspection, they appear to be the same In truth, however, they are different A subroutine is a piece of code that performs a set of actions or calculations, or a combination of the two It can form a building block within a program and may sometimes need to be repeated It can be called by several different routines The programmer has to write a subroutine only once, and it can be called from anywhere within the program as many times as needed However, it does not directly return a value; if it performs a calculation, there is no direct way of finding the result It can alter values of variables if you pass parameters using the ByRef methodology, which is explained later in this chapter It is called by inserting a Call instruction into the code, as shown here:

44 44

AutoRecover is a reserve parachute that you don t want to test unless you must AutoRecover gives you the impression that you have lost your work In fact, if you follow the instructions and choose to recover the AutoRecover document, you may not lose anything at most, you might lose only the very last thing that you did However, you need to save the file again as soon as you AutoRecover Also be warned that AutoRecover has a habit of not realizing that you ve already recovered the document, so it may prompt you to do so again, which would overwrite any changes you made in your last editing session (after the initial AutoRecover) Figure 2-15: The spelling checker is a gift to those of us who are spelling challenged!