version 4.00 cm_version 2.0 platform CM-150 o // param_text:Title : ROBOTIS Dream2 Level 3 : Motorcycle o // param_text:Initial Release : 2017/02/24 o // param_text:[IOperation Method] o // param_text:Remocon Control o // param_text:U,D,L,R - Forward, Backward, Left, Right o // param_text:2,4 - Increase. Decrease speed ; 1,3 - Play melody - o main o begin o // param_text:Drive Motor o load param_dest:var:Wheel_Speed param_src:dec_num:400 o // param_text:Set remocon channel o if param_src:cm:21 lop:< param_src:dec_num:9 rop:then o load param_dest:cm:22 param_src:cm:21 o else o load param_dest:cm:22 param_src:channel_num:8 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 load param_dest:aux:3:61 param_src:bool_num:1 o load param_dest:aux:3:60 param_src:dec_num:1023 o load param_dest:aux:3:62 param_src:position_num:512 - - o while(1) o begin o // param_text:If you miss the wireless signal, stop after the set Timer's time o load param_dest:cm:5 param_src:timer_num:6 o while param_src:cm:2 lop:== param_src:bool_num:0 rop:then o begin o if param_src:cm:5 lop:== param_src:dec_num:0 rop:then o begin o compute param_dest:aux:1:68 param_src:dir_num:1024 aop:+ param_src:dec_num:0 o end o end o if param_src:cm:2 lop:== param_src:bool_num:1 rop:then o begin o load param_dest:var:Received_Data param_src:cm:1 o compute param_dest:var:Movement_Button param_src:cm:1 aop:& param_src:rc100z_num:3 o compute param_dest:var:Direction_Button param_src:cm:1 aop:& param_src:rc100z_num:12 o compute param_dest:var:Function_Button param_src:cm:1 aop:& param_src:rc100z_num:240 - o if param_src:var:Movement_Button lop:== param_src:rc100z_num:1 rop:then o compute param_dest:aux:1:68 param_src:dir_num:1024 aop:+ param_src:var:Wheel_Speed o elseif param_src:var:Movement_Button lop:== param_src:rc100z_num:2 rop:then o begin o if param_src:cm:14 lop:>= param_src:dec_num:100 rop:then o begin o compute param_dest:aux:1:68 param_src:dir_num:1024 aop:+ param_src:dec_num:0 o load param_dest:cm:18 param_src:buzzertime_num:255 o load param_dest:cm:17 param_src:melody_num:12 o wait param_src:cm:18 lop:> param_src:buzzertime_num:0 rop:then o call faddr_dest:Standby0_1 o end o else o compute param_dest:aux:1:68 param_src:dir_num:0 aop:+ param_src:var:Wheel_Speed o end o if param_src:var:Direction_Button lop:== param_src:rc100z_num:4 rop:then o compute param_dest:aux:3:62 param_src:aux:3:62 aop:+ param_src:dec_num:50 o elseif param_src:var:Direction_Button lop:== param_src:rc100z_num:8 rop:then o compute param_dest:aux:3:62 param_src:aux:3:62 aop:- param_src:dec_num:50 o if param_src:var:Function_Button lop:== param_src:rc100z_num:16 rop:then o begin o load param_dest:cm:18 param_src:buzzertime_num:255 o load param_dest:cm:17 param_src:melody_num:2 o end o elseif param_src:var:Function_Button lop:== param_src:rc100z_num:32 rop:then o call faddr_dest:Increase_Speed o elseif param_src:var:Function_Button lop:== param_src:rc100z_num:64 rop:then o begin o load param_dest:cm:18 param_src:buzzertime_num:255 o load param_dest:cm:17 param_src:melody_num:12 o wait param_src:cm:18 lop:> param_src:buzzertime_num:0 rop:then o call faddr_dest:Standby0_1 o end o elseif param_src:var:Function_Button lop:== param_src:rc100z_num:128 rop:then o call faddr_dest:Reduce_Speed o elseif param_src:cm:1 lop:== param_src:rc100z_num:0 rop:then o begin o compute param_dest:aux:1:68 param_src:dir_num:1024 aop:+ param_src:dec_num:0 o compute param_dest:aux:2:68 param_src:dir_num:1024 aop:+ param_src:dec_num:0 o end o end o end o end o function faddr_src:Standby0_1 o begin 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 // param_text:Increasing the speed o function faddr_src:Increase_Speed o begin o if param_src:var:Wheel_Speed lop:< param_src:dec_num:1000 rop:then o begin o compute param_dest:var:Wheel_Speed param_src:var:Wheel_Speed aop:+ param_src:dec_num:200 o wait param_src:cm:1 lop:== param_src:rc100z_num:32 rop:then o load param_dest:cm:18 param_src:buzzertime_num:2 o load param_dest:cm:17 param_src:scale_num:10 o end o end o // param_text:Reducing the speed o function faddr_src:Reduce_Speed o begin o if param_src:var:Wheel_Speed lop:> param_src:dec_num:400 rop:then o begin o compute param_dest:var:Wheel_Speed param_src:var:Wheel_Speed aop:- param_src:dec_num:200 o wait param_src:cm:1 lop:== param_src:rc100z_num:128 rop:then o load param_dest:cm:18 param_src:buzzertime_num:2 o load param_dest:cm:17 param_src:scale_num:10 o end o end - -