version 2.01
platform ollo
o // param_text:Title- 3rd teaching program chapter 6 example (Crane)
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 joint mode
o load param_dest:aux_servo:3:0 param_src:bool_num:1
o load param_dest:aux_servo:4:0 param_src:bool_num:1
- 
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:timer_num:0 rop:then
o begin
o call faddr_dest:UpDownStop
o call faddr_dest:MovingStop
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:When the R or L button is being pressed, it will move left/rightwards. 
o // param_text:When neither R nor L button is being pressed, it will stop moving left/rightwards.  
o compute param_dest:var:MovingControlKey param_src:var:ReceivedData aop:& param_src:rc100z_num:12
o if param_src:var:MovingControlKey lop:== param_src:rc100z_num:4 rop:then
o call faddr_dest:Left
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:8 rop:then
o call faddr_dest:Right
o else
o call faddr_dest:MovingStop
- 
o // param_text:When the U or D button is being pressed, it will move up/down. 
o // param_text:When neither U nor D button is being pressed, it will stop moving up/down.  
o compute param_dest:var:UpDownControlKey param_src:var:ReceivedData aop:& param_src:rc100z_num:3
o if param_src:var:UpDownControlKey lop:== param_src:rc100z_num:1 rop:then
o call faddr_dest:Up
o elseif param_src:var:UpDownControlKey lop:== param_src:rc100z_num:2 rop:then
o call faddr_dest:Down
o else
o call faddr_dest:UpDownStop
- 
o // param_text:When the button 1 or 3 is being pressed, it will grab/loose the tweezers. 
o compute param_dest:var:ButtonKey param_src:var:ReceivedData aop:& param_src:rc100z_num:80
o if param_src:var:ButtonKey lop:== param_src:rc100z_num:16 rop:then
o call faddr_dest:HoldUp
o elseif param_src:var:ButtonKey lop:== param_src:rc100z_num:64 rop:then
o call faddr_dest:PutDown
o end
o end
o function faddr_src:Up
o begin
o load param_dest:aux_motor:1 param_src:dir_num:700
o end
- 
o function faddr_src:Down
o begin
o load param_dest:aux_motor:1 param_src:dir_num:1724
o end
- 
o function faddr_src:UpDownStop
o begin
o load param_dest:aux_motor:1 param_src:dir_num:0
o end
- 
o function faddr_src:HoldUp
o begin
o load param_dest:aux_servo:3:1 param_src:dir_num:1023
o load param_dest:aux_servo:3:2 param_src:dec_num:655
o end
- 
o function faddr_src:PutDown
o begin
o load param_dest:aux_servo:3:1 param_src:dir_num:1023
o load param_dest:aux_servo:3:2 param_src:dec_num:400
o end
- 
o function faddr_src:Right
o begin
o load param_dest:aux_servo:4:2 param_src:dec_num:1023
o load param_dest:aux_servo:4:1 param_src:dir_num:650
o end
- 
o function faddr_src:Left
o begin
o load param_dest:aux_servo:4:2 param_src:dec_num:0
o load param_dest:aux_servo:4:1 param_src:dir_num:650
o end
- 
o function faddr_src:MovingStop
o begin
o load param_dest:aux_servo:4:1 param_src:dir_num:0
o end
%Š