version 2.01
platform ollo
o // param_text:Title- 3rd teaching program chapter 10 example (Battle bug)
o // param_text:First Distribution : 2009/10/01
o // param_text:Last Modify : 2009/10/01
o // param_text:[Operating]
o // param_text:Operate the robot by using RC-100. 
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:Set up the wireless channel of RC-100.
o if param_src:cm:57 lop:< param_src:dec_num:9 rop:then
o load param_dest:cm:59 param_src:cm:57
o else
o load param_dest:cm:59 param_src:channel_num:8
- 
o // param_text:Set up the maximum speed
o load param_dest:var:MaximumSpeed param_src:dec_num:1023
o // param_text:Set up the weapon position
o load param_dest:aux_servo:3:0 param_src:bool_num:1
o load param_dest:aux_servo:3:1 param_src:var:MaximumSpeed
o load param_dest:aux_servo:3:2 param_src:dec_num:512
- 
o // param_text:It will be turned off automatically if there are no movements for more than 2 minutes
o load param_dest:cm:60 param_src:powersave_num:2
- 
o // param_text:Set up the maximum period receiving the wireless signals of RC-100
o load param_dest:var:StopWaitTime param_src:timer_num:6
o while(1)
o begin
o // param_text:It will stop every movement if the wireless data are not arrived within the setting time. 
o // param_text:It is to prevent moving continuously due to missing wireless signals. 
o load param_dest:cm:33 param_src:var:StopWaitTime
o while param_src:cm:30 lop:== param_src:bool_num:0 rop:then
o begin
o if param_src:cm:33 lop:== param_src:dec_num:0 rop:then
o begin
o call faddr_dest:Stop
o call faddr_dest:Joint1Stop
o end
o end
o load param_dest:var:ReceivedData param_src:cm:28
- 
o // param_text:It will reset the ending time at 2 minutes when receiving the wireless signals of remotes. 
o load param_dest:cm:60 param_src:powersave_num:2
- 
o // param_text:It will move by the U/D/L/R buttons on RC-100
o compute param_dest:var:MovingControlKey param_src:var:ReceivedData aop:& param_src:rc100z_num:15
o if param_src:var:MovingControlKey lop:== param_src:rc100z_num:1 rop:then
o call faddr_dest:Forward
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:2 rop:then
o call faddr_dest:Backward
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:4 rop:then
o call faddr_dest:LeftTurn
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:8 rop:then
o call faddr_dest:RightTurn
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:5 rop:then
o call faddr_dest:ForwardLeft
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:9 rop:then
o call faddr_dest:ForwardRight
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:6 rop:then
o call faddr_dest:BackwardLeft
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:10 rop:then
o call faddr_dest:BackwardRight
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:0 rop:then
o call faddr_dest:Stop
- 
o // param_text:It will move its weapons by the 1/3 buttons on RC-100
o compute param_dest:var:Joint1ControlKey param_src:var:ReceivedData aop:& param_src:rc100z_num:80
o if param_src:var:Joint1ControlKey lop:== param_src:rc100z_num:16 rop:then
o call faddr_dest:Joint1CCWRotating
o elseif param_src:var:Joint1ControlKey lop:== param_src:rc100z_num:64 rop:then
o call faddr_dest:Joint1CWRotating
o else
o call faddr_dest:Joint1Stop
o end
o end
- 
o function faddr_src:WaitMelodyComplete
o begin
o wait param_src:cm:55 lop:> param_src:buzzertime_num:0 rop:then
o end
- 
o function faddr_src:Forward
o begin
o call faddr_dest:Motor1FowardRotating
o call faddr_dest:Motor2ReverseRotating
o end
- 
o function faddr_src:Backward
o begin
o call faddr_dest:Motor1ReverseRotating
o call faddr_dest:Motor2FowardRotating
o end
- 
o function faddr_src:LeftTurn
o begin
o call faddr_dest:Motor1ReverseRotating
o call faddr_dest:Motor2ReverseRotating
o end
- 
o function faddr_src:RightTurn
o begin
o call faddr_dest:Motor1FowardRotating
o call faddr_dest:Motor2FowardRotating
o end
- 
o function faddr_src:BackwardLeft
o begin
o call faddr_dest:Motor1Stop
o call faddr_dest:Motor2FowardRotating
o end
- 
o function faddr_src:BackwardRight
o begin
o call faddr_dest:Motor1ReverseRotating
o call faddr_dest:Motor2Stop
o end
- 
o function faddr_src:ForwardLeft
o begin
o call faddr_dest:Motor1Stop
o call faddr_dest:Motor2ReverseRotating
o end
- 
o function faddr_src:ForwardRight
o begin
o call faddr_dest:Motor1FowardRotating
o call faddr_dest:Motor2Stop
o end
- 
o function faddr_src:Stop
o begin
o call faddr_dest:Motor1Stop
o call faddr_dest:Motor2Stop
o end
- 
o function faddr_src:Joint1CCWRotating
o begin
o load param_dest:aux_servo:3:2 param_src:dec_num:1023
o load param_dest:aux_servo:3:1 param_src:dir_num:1023
o end
- 
o function faddr_src:Joint1CWRotating
o begin
o load param_dest:aux_servo:3:2 param_src:dec_num:0
o load param_dest:aux_servo:3:1 param_src:dir_num:1023
o end
- 
o function faddr_src:Joint1Stop
o begin
o load param_dest:aux_servo:3:1 param_src:dir_num:0
o end
- 
o function faddr_src:Motor1FowardRotating
o begin
o load param_dest:aux_motor:1 param_src:var:MaximumSpeed
o end
- 
o function faddr_src:Motor1ReverseRotating
o begin
o compute param_dest:aux_motor:1 param_src:dir_num:1024 aop:+ param_src:var:MaximumSpeed
o end
- 
o function faddr_src:Motor1Stop
o begin
o load param_dest:aux_motor:1 param_src:dir_num:0
o end
- 
o function faddr_src:Motor2FowardRotating
o begin
o load param_dest:aux_motor:2 param_src:var:MaximumSpeed
o end
- 
o function faddr_src:Motor2ReverseRotating
o begin
o compute param_dest:aux_motor:2 param_src:dir_num:1024 aop:+ param_src:var:MaximumSpeed
o end
- 
o function faddr_src:Motor2Stop
o begin
o load param_dest:aux_motor:2 param_src:dir_num:0
o end
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