version 2.01 platform bioloid o // param_text:Title- Beginner Level Robot MelodyCar 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 go ahead some distance with melody, if you press the L button on CM-5 o // param_text:It will go back some distance with melody, if you press the R button on CM-5 o // param_text:It will turn right with melody, if you press the U button on CM-5 o // param_text:It will turn left with melody, if you press the D button on CM-5 o main o begin o load param_dest:var:ForwardSpeed param_src:dec_num:500 o load param_dest:var:BackwardSpeed param_src:dec_num:500 o load param_dest:var:SpinSpeed param_src:dec_num:500 o load param_dest:var:ForwardTime param_src:dec_num:16 o load param_dest:var:SpinTime param_src:dec_num:9 o call faddr_dest:InitialAction - o while(1) o begin o if param_src:cm:32 lop:== param_src:button_num:2 rop:then o call faddr_dest:Forward o elseif param_src:cm:32 lop:== param_src:button_num:1 rop:then o call faddr_dest:Backward o elseif param_src:cm:32 lop:== param_src:button_num:4 rop:then o call faddr_dest:TurnLeft o elseif param_src:cm:32 lop:== param_src:button_num:8 rop:then o call faddr_dest:TurnRight o end o end - o function faddr_src:InitialAction o begin o call faddr_dest:Forward1 o load param_dest:var:Melody param_src:dec_num:2 o call faddr_dest:PlayMelody o load param_dest:cm:33 param_src:var:ForwardTime o call faddr_dest:WaitTime o call faddr_dest:Stop o end - o function faddr_src:Forward o begin o call faddr_dest:Forward1 o load param_dest:var:Melody param_src:dec_num:3 o call faddr_dest:PlayMelody o load param_dest:cm:33 param_src:var:ForwardTime o call faddr_dest:WaitTime o call faddr_dest:Stop o end - o function faddr_src:Backward o begin o call faddr_dest:Backward1 o load param_dest:var:Melody param_src:dec_num:4 o call faddr_dest:PlayMelody o load param_dest:cm:33 param_src:var:ForwardTime o call faddr_dest:WaitTime o call faddr_dest:Stop o end - o function faddr_src:TurnLeft o begin o call faddr_dest:TurnLeft2 o load param_dest:var:Melody param_src:dec_num:1 o call faddr_dest:PlayMelody o load param_dest:cm:33 param_src:var:SpinTime o call faddr_dest:WaitTime o call faddr_dest:Stop o end - o function faddr_src:TurnRight o begin o call faddr_dest:TurnRight2 o load param_dest:var:Melody param_src:dec_num:1 o call faddr_dest:PlayMelody o load param_dest:cm:33 param_src:var:SpinTime o call faddr_dest:WaitTime o call faddr_dest:Stop o end - o function faddr_src:PlayMelody o begin o load param_dest:s1:100:41 param_src:dec_num:255 o load param_dest:s1:100:40 param_src:var:Melody o end - o function faddr_src:WaitTime o begin o wait param_src:cm:33 lop:> param_src:timer_num:0 rop:then o end - o function faddr_src:Stop o begin o load param_dest:motor:1:32 param_src:dec_num:0 o load param_dest:motor:2:32 param_src:dec_num:0 o load param_dest:motor:3:32 param_src:dec_num:0 o load param_dest:motor:4:32 param_src:dec_num:0 o end - o function faddr_src:Forward1 o begin o compute param_dest:var:FixSpeed param_src:dec_num:1024 aop:+ param_src:var:ForwardSpeed o load param_dest:motor:1:32 param_src:var:FixSpeed o load param_dest:motor:2:32 param_src:var:ForwardSpeed o load param_dest:motor:3:32 param_src:var:FixSpeed o load param_dest:motor:4:32 param_src:var:ForwardSpeed o end - o function faddr_src:Backward1 o begin o compute param_dest:var:FixSpeed param_src:dec_num:1024 aop:+ param_src:var:BackwardSpeed o load param_dest:motor:1:32 param_src:var:BackwardSpeed o load param_dest:motor:2:32 param_src:var:FixSpeed o load param_dest:motor:3:32 param_src:var:BackwardSpeed o load param_dest:motor:4:32 param_src:var:FixSpeed o end - o function faddr_src:TurnRight1 o begin o compute param_dest:var:FixSpeed param_src:dec_num:1024 aop:+ param_src:var:SpinSpeed o load param_dest:motor:1:32 param_src:dec_num:0 o load param_dest:motor:2:32 param_src:var:SpinSpeed o load param_dest:motor:3:32 param_src:dec_num:0 o load param_dest:motor:4:32 param_src:var:SpinSpeed o end - o function faddr_src:TurnLeft1 o begin o compute param_dest:var:FixSpeed param_src:dec_num:1024 aop:+ param_src:var:SpinSpeed o load param_dest:motor:1:32 param_src:var:FixSpeed o load param_dest:motor:2:32 param_src:dec_num:0 o load param_dest:motor:3:32 param_src:var:FixSpeed o load param_dest:motor:4:32 param_src:dec_num:0 o end - o function faddr_src:TurnRight2 o begin o compute param_dest:var:FixSpeed param_src:dec_num:1024 aop:+ param_src:var:SpinSpeed o load param_dest:motor:1:32 param_src:var:SpinSpeed o load param_dest:motor:2:32 param_src:var:SpinSpeed o load param_dest:motor:3:32 param_src:var:SpinSpeed o load param_dest:motor:4:32 param_src:var:SpinSpeed o end - o function faddr_src:TurnLeft2 o begin o compute param_dest:var:FixSpeed param_src:dec_num:1024 aop:+ param_src:var:SpinSpeed o load param_dest:motor:1:32 param_src:var:FixSpeed o load param_dest:motor:2:32 param_src:var:FixSpeed o load param_dest:motor:3:32 param_src:var:FixSpeed o load param_dest:motor:4:32 param_src:var:FixSpeed o end ï;