version 2.02
platform ollo
o // param_text:Title : 2nd Puppy 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 while(1)
o begin
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 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 // param_text:It will change its course in the right direction when a line is detected from the left sensor. 
o call faddr_dest:TurnRight
o call faddr_dest:ShortTimeWait
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 // param_text:It will change its course in the left direction when a line is detected from the right sensor.
o call faddr_dest:TurnLeft
o call faddr_dest:ShortTimeWait
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 // param_text:When an object is detected from both right and left sensor, it will back off first and start to go left.  
o call faddr_dest:Backward
o call faddr_dest:ShortTimeWait
o call faddr_dest:TurnLeft
o call faddr_dest:ShortTimeWait
o end
o else
o begin
o // param_text:It will go straight for other cases.
o call faddr_dest:Forward
o end
- 
o if param_src:cm:51 lop:> param_src:dec_num:100 rop:then
o begin
o call faddr_dest:Stop
o call faddr_dest:ShortTimeWait
- 
o // param_text:It will change its speed gradually not to be prostrated due rebound. 
o load param_dest:var:MovingSpeed param_src:dec_num:1023
o call faddr_dest:Backward
o call faddr_dest:ShortTimeWait
o call faddr_dest:Forward
o call faddr_dest:ShortTimeWait
o load param_dest:var:MovingSpeed param_src:dec_num:600
o call faddr_dest:Forward
o call faddr_dest:ShortTimeWait
o load param_dest:var:MovingSpeed param_src:dec_num:400
o call faddr_dest:Forward
o call faddr_dest:ShortTimeWait
o load param_dest:var:MovingSpeed param_src:dec_num:200
o call faddr_dest:Forward
o call faddr_dest:ShortTimeWait
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 load param_dest:cm:33 param_src:timer_num:16
o wait param_src:cm:33 lop:> param_src:timer_num:0 rop:then
- 
o load param_dest:var:MovingSpeed param_src:dec_num:1023
o if param_src:cm:56 lop:> param_src:dec_num:0 rop:then
o begin
o load param_dest:cm:55 param_src:buzzertime_num:255
o load param_dest:cm:54 param_src:melody_num:10
o call faddr_dest:TurnRight
o load param_dest:cm:33 param_src:timer_num:16
o wait param_src:cm:33 lop:> param_src:timer_num:0 rop:then
o end
- 
o call faddr_dest:Backward
o call faddr_dest:ShortTimeWait
o call faddr_dest:Stop
o end
o end
o end
- 
o function faddr_src:ShortTimeWait
o begin
o load param_dest:cm:33 param_src:timer_num:2
o wait param_src:cm:33 lop:> param_src:timer_num:0 rop:then
o end
- 
o function faddr_src:Forward
o begin
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 function faddr_src:Backward
o begin
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 function faddr_src:TurnLeft
o begin
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 function faddr_src:TurnRight
o begin
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 function faddr_src:Stop
o begin
o compute param_dest:aux_motor:1 param_src:dir_num:0 aop:+ param_src:dec_num:0
o compute param_dest:aux_motor:2 param_src:dir_num:0 aop:+ param_src:dec_num:0
o end
ެ