version 2.01 platform bioloid o // param_text:Title- Beginner Level Robot CrocodileMouth o // param_text:First Distribution : 2009/10/01 o // param_text:Last Modify : 2009/10/01 o // param_text:[Operating] o // param_text:It will open its mouth if you put your hands on ahead of the sensor, and close if you take your hands away. o // param_text:It will open its mouth again, if there is an object between the lips. o // param_text:It will play melody if there is no object detected for 10 sec. o main o begin o load param_dest:var:OpenMouthPosition param_src:dec_num:400 o load param_dest:var:CloseMouthPosition param_src:dec_num:590 o // param_text:The kinds of songs will be different according to the numbers of songs. Song numbers are from 0 to 27, total 27 o load param_dest:var:Song param_src:dec_num:0 o load param_dest:motor:3:32 param_src:dec_num:100 o call faddr_dest:InitialAction - o load param_dest:cm:37 param_src:dir_num:1024 o load param_dest:cm:38 param_src:dir_num:0 - o load param_dest:cm:33 param_src:timer_num:80 o while(1) o begin o if param_src:s1:100:27 lop:>= param_src:dec_num:200 rop:|| param_src:motor:3:40 lop:>= param_src:dir_num:1124 rop:then o begin o call faddr_dest:OpenMouth o load param_dest:cm:33 param_src:timer_num:80 o end o elseif param_src:cm:33 lop:== param_src:timer_num:0 rop:then o begin o call faddr_dest:Sing o load param_dest:cm:33 param_src:timer_num:80 o end o end o end - o function faddr_src:InitialAction o begin o load param_dest:motor:3:30 param_src:var:OpenMouthPosition o call faddr_dest:WaitMove o load param_dest:motor:3:30 param_src:var:CloseMouthPosition o call faddr_dest:WaitMove o end - o function faddr_src:OpenMouth o begin o load param_dest:motor:3:30 param_src:var:OpenMouthPosition o call faddr_dest:WaitMove o load param_dest:motor:3:30 param_src:var:CloseMouthPosition o end - o function faddr_src:WaitMove o begin o wait param_src:motor:3:46 lop:== param_src:bool_num:1 rop:then o end - o function faddr_src:Sing o begin o load param_dest:s1:100:41 param_src:dec_num:255 o load param_dest:s1:100:40 param_src:var:Song o wait param_src:s1:100:41 lop:> param_src:buzzertime_num:0 rop:then o end œ