version 3.00 cm_version 2.0 platform CM-150 o // param_text:Title : ROBOTIS DREAM Level 2 : Crocodile Sample Program o // param_text:Initial Release : 2013/11/21 o // param_text:Last Modified : 2013/11/21 o // param_text:[Operation Method] o // param_text:Robot moves based on the sensors. o main o begin o // param_text:Plays a melody when turned on. 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 while(1) o begin o // param_text:When both IR sensors detect an object, robot closes mouth. o if param_src:cm:13 lop:> param_src:dec_num:150 rop:&& param_src:cm:15 lop:> param_src:dec_num:150 rop:then o begin o call faddr_dest:Stop o call faddr_dest:Close_Mouth o load param_dest:cm:5 param_src:timer_num:12 o wait param_src:cm:5 lop:> param_src:timer_num:0 rop:then o call faddr_dest:Open_Mouth o load param_dest:cm:5 param_src:timer_num:5 o wait param_src:cm:5 lop:> param_src:timer_num:0 rop:then o end o else o begin o // param_text:Moves forward with mouth open. o call faddr_dest:Repeats_moving_fast_and_slow_while_moving_forward o end - o end o end - o function faddr_src:Open_Mouth o begin o load param_dest:aux:2:68 param_src:dir_num:600 o end - o function faddr_src:Close_Mouth o begin o load param_dest:aux:2:68 param_src:dir_num:1624 o end - o function faddr_src:Repeats_moving_fast_and_slow_while_moving_forward o begin o // param_text:Moves forward while repeatedly moving faster then slower. o load param_dest:aux:1:68 param_src:dir_num:1674 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 load param_dest:aux:1:68 param_src:dir_num:1374 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 o end - o function faddr_src:Stop o begin o load param_dest:aux:1:68 param_src:dir_num:0 o end