version 2.01
platform ollo
o // param_text:Title : 2nd Avoider example
o // param_text:First Distribution : 2009/10/01
o // param_text:Last Modify : 2009/10/01
o // param_text:[Operating]
o // param_text:Robot will move according to the sensor value. 
o main
o begin
o // param_text:It will play melody when it starts. 
o load param_dest:cm:55 param_src:buzzertime_num:255
o load param_dest:cm:54 param_src:melody_num:3
o wait param_src:cm:55 lop:> param_src:buzzertime_num:0 rop:then
- 
o // param_text:Please control the moving speed by changing the below value. : 0 ~ 1023
o load param_dest:var:MovingSpeed param_src:dec_num:600
- 
o while(1)
o begin
o if param_src:cm:50 lop:< param_src:dec_num:100 rop:&& param_src:cm:52 lop:>= param_src:dec_num:100 rop:then
o begin
o // param_text:It will change its course in the right direction when a line is detected from the left sensor. 
o compute param_dest:aux_motor:1 param_src:dir_num:0 aop:+ param_src:var:MovingSpeed
o compute param_dest:aux_motor:2 param_src:dir_num:0 aop:+ param_src:var:MovingSpeed
o end
o elseif param_src:cm:50 lop:>= param_src:dec_num:100 rop:&& param_src:cm:52 lop:< param_src:dec_num:100 rop:then
o begin
o // param_text:It will change its course in the left direction when a line is detected from the right sensor. 
o compute param_dest:aux_motor:1 param_src:dir_num:1024 aop:+ param_src:var:MovingSpeed
o compute param_dest:aux_motor:2 param_src:dir_num:1024 aop:+ param_src:var:MovingSpeed
o end
o elseif param_src:cm:50 lop:>= param_src:dec_num:100 rop:&& param_src:cm:52 lop:>= param_src:dec_num:100 rop:then
o begin
o // param_text:When an object is detected from both right and left sensor, it will back off.
o compute param_dest:aux_motor:1 param_src:dir_num:0 aop:+ param_src:var:MovingSpeed
o compute param_dest:aux_motor:2 param_src:dir_num:1024 aop:+ param_src:var:MovingSpeed
o end
o else
o begin
o // param_text:It will go straight for other cases.
o compute param_dest:aux_motor:1 param_src:dir_num:1024 aop:+ param_src:var:MovingSpeed
o compute param_dest:aux_motor:2 param_src:dir_num:0 aop:+ param_src:var:MovingSpeed
o end
o end
o end
>