version 3.00 cm_version 2.0 platform CM-150 o // param_text:标题:第三阶段 碰碰车 例子程序 o // param_text:最初发布:2014/01/03 o // param_text:最后修改:2014/01/03 o // param_text:[使用方法] o // param_text:机器人按照传感器的结果运行。 o main o begin o // param_text:开始时演奏乐器。 o load param_dest:cm:18 param_src:buzzertime_num:255 o load param_dest:cm:17 param_src:melody_num:3 o wait param_src:cm:18 lop:> param_src:buzzertime_num:0 rop:then - o // param_text:修改如下值可以调整机器人的行驶速度。 o load param_dest:var:行驶速度 param_src:dec_num:700 o call faddr_dest:前进 o while(1) o begin o if param_src:aux:4:65 lop:== param_src:bool_num:1 rop:then o begin o // param_text:前方接触传感器被按下时机器人略微后退之后左转再后退。 o call faddr_dest:后退 o call faddr_dest:等待0_25秒 o call faddr_dest:停止 o call faddr_dest:左转 o call faddr_dest:后退 o end o elseif param_src:aux:3:65 lop:== param_src:bool_num:1 rop:then o begin o // param_text:后方接触传感器被按下时机器人略微前进之后左转再前进。 o call faddr_dest:前进 o call faddr_dest:等待0_4秒 o call faddr_dest:停止 o call faddr_dest:左转 o call faddr_dest:前进 o end o end o end - o function faddr_src:前进 o begin o compute param_dest:aux:1:68 param_src:dir_num:1024 aop:+ param_src:var:行驶速度 o compute param_dest:aux:2:68 param_src:dir_num:0 aop:+ param_src:var:行驶速度 o end o function faddr_src:后退 o begin o compute param_dest:aux:1:68 param_src:dir_num:0 aop:+ param_src:var:行驶速度 o compute param_dest:aux:2:68 param_src:dir_num:1024 aop:+ param_src:var:行驶速度 o end o function faddr_src:左转 o begin o compute param_dest:aux:1:68 param_src:dir_num:1024 aop:+ param_src:var:行驶速度 o compute param_dest:aux:2:68 param_src:dir_num:1024 aop:+ param_src:var:行驶速度 o call faddr_dest:等待0_5秒 o end o function faddr_src:右转 o begin o compute param_dest:aux:1:68 param_src:dir_num:0 aop:+ param_src:var:行驶速度 o compute param_dest:aux:2:68 param_src:dir_num:0 aop:+ param_src:var:行驶速度 o call faddr_dest:等待0_5秒 o end o function faddr_src:停止 o begin o compute param_dest:aux:1:68 param_src:dir_num:0 aop:+ param_src:dec_num:0 o compute param_dest:aux:2:68 param_src:dir_num:0 aop:+ param_src:dec_num:0 o load param_dest:cm:5 param_src:timer_num:1 o wait param_src:cm:5 lop:> param_src:timer_num:0 rop:then o end - o function faddr_src:等待0_25秒 o begin o load param_dest:cm:5 param_src:timer_num:2 o wait param_src:cm:5 lop:> param_src:timer_num:0 rop:then o end o function faddr_src:等待0_4秒 o begin o load param_dest:cm:5 param_src:timer_num:3 o wait param_src:cm:5 lop:> param_src:timer_num:0 rop:then o end o function faddr_src:等待0_5秒 o begin o load param_dest:cm:5 param_src:timer_num:4 o wait param_src:cm:5 lop:> param_src:timer_num:0 rop:then