version 2.01
platform ollo
o // param_text:Title- 3rd teaching program chapter 1 example (Crossing gate)
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:Set up the Serovo(PORT[3]) and LED (PORT[4])
o load param_dest:aux_led:4 param_src:led_num:0
o load param_dest:aux_servo:3:0 param_src:bool_num:1
o load param_dest:aux_servo:3:1 param_src:dir_num:2047
- 
o // param_text:Set up the sensor value at 100 to decide if there exists an object. 
o load param_dest:var:ObjectDistance param_src:dec_num:100
- 
o // param_text:Set up the gate position
o load param_dest:var:GateClosePosition param_src:dec_num:510
o load param_dest:var:GateOpenPosition param_src:dec_num:780
- 
o while(1)
o begin
o // param_text:When an object is detected from a central distance sensor, 
o if param_src:cm:51 lop:>= param_src:var:ObjectDistance rop:then
o begin
o // param_text:The gate will be lifted up, and No.1 LED will be lit.
o load param_dest:aux_servo:3:2 param_src:var:GateOpenPosition
o load param_dest:aux_led:4 param_src:led_num:2
o end
o else
o begin
o // param_text:The gate will be lifted down, and No.2 LED will be lit.
o load param_dest:aux_servo:3:2 param_src:var:GateClosePosition
o load param_dest:aux_led:4 param_src:led_num:1
o end
o end
o end
Èø