version 2.03
platform ollo
o // param_text:Title : Customized Code for the customized OLLO Line Tracer - by CustoBots
o // param_text:Last Modify : 2011/02/24
o // param_text:Robot will follow a black line on a white surface. 
- 
o main
o begin
o while(1)
o begin
o if param_src:cm:50 lop:< param_src:dec_num:200 rop:&& param_src:cm:52 lop:> param_src:dec_num:200 rop:then
o begin
o call faddr_dest:TurnLeft
o end
o elseif param_src:cm:50 lop:> param_src:dec_num:200 rop:&& param_src:cm:52 lop:< param_src:dec_num:200 rop:then
o begin
o call faddr_dest:TurnRight
o end
o else
o begin
o call faddr_dest:Forward
o end
- 
o if param_src:cm:51 lop:> param_src:dec_num:300 rop:then
o begin
o call faddr_dest:Stop
o load param_dest:cm:33 param_src:timer_num:8
o wait param_src:cm:33 lop:> param_src:timer_num:0 rop:then
o load param_dest:cm:56 param_src:dec_num:0
o wait param_src:cm:56 lop:== param_src:dec_num:0 rop:then
o end
o end
o end
- 
o function faddr_src:Forward
o begin
o load param_dest:aux_motor:1 param_src:dir_num:1023
o load param_dest:aux_motor:2 param_src:dir_num:2047
o end
- 
o function faddr_src:Reverse
o begin
o load param_dest:aux_motor:1 param_src:dir_num:2047
o load param_dest:aux_motor:2 param_src:dir_num:1023
o end
- 
o function faddr_src:TurnLeft
o begin
o load param_dest:aux_motor:1 param_src:dir_num:350
o load param_dest:aux_motor:2 param_src:dir_num:2047
o end
- 
o function faddr_src:TurnRight
o begin
o load param_dest:aux_motor:1 param_src:dir_num:1023
o load param_dest:aux_motor:2 param_src:dir_num:1374
o end
- 
o function faddr_src:Stop
o begin
o load param_dest:aux_motor:1 param_src:dir_num:0
o load param_dest:aux_motor:2 param_src:dir_num:1024
o end
³Ñ