version 2.01
platform ollo
o // param_text:Title- 3rd teaching program chapter 12 example (Racing car)
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:Steering direction 0 : center, 1 : left, 2 : right
o load param_dest:var:SteeringDirection param_src:dec_num:0
o load param_dest:var:HandleCenterPosition param_src:dec_num:512
o // param_text:Servo motor initialization
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:1023
o load param_dest:aux_servo:3:2 param_src:var:HandleCenterPosition
- 
o if param_src:cm:57 lop:<= param_src:dec_num:8 rop:then
o begin
o // param_text:If you press the start button for 1~8 times, it will move in remote mode.
o load param_dest:cm:59 param_src:cm:57
o jump laddr_dest:RomoconControlMode
o end
o else
o begin
o // param_text:If you press more than 9 times, it will move in line tracing mode.  
o jump laddr_dest:LineTracerMode
o end
- 
o label laddr_src:RomoconControlMode
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 load param_dest:aux_motor:1 param_src:dir_num:0
o load param_dest:aux_servo:3:2 param_src:var:HandleCenterPosition
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 buttons on RC-100
o compute param_dest:var:MovingControlKey param_src:var:ReceivedData aop:& param_src:rc100z_num:3
o if param_src:var:MovingControlKey lop:== param_src:rc100z_num:1 rop:then
o load param_dest:aux_motor:1 param_src:dir_num:2047
o elseif param_src:var:MovingControlKey lop:== param_src:rc100z_num:2 rop:then
o load param_dest:aux_motor:1 param_src:dir_num:1023
o else
o load param_dest:aux_motor:1 param_src:dir_num:0
- 
o // param_text:It will move its steering direction by the 2/4 buttons on RC-100
o compute param_dest:var:HandleKey param_src:var:ReceivedData aop:& param_src:rc100z_num:160
o if param_src:var:HandleKey lop:== param_src:rc100z_num:32 rop:then
o begin
o load param_dest:aux_servo:3:2 param_src:dec_num:350
o load param_dest:var:SteeringDirection param_src:dec_num:1
o end
o elseif param_src:var:HandleKey lop:== param_src:rc100z_num:128 rop:then
o begin
o load param_dest:aux_servo:3:2 param_src:dec_num:673
o load param_dest:var:SteeringDirection param_src:dec_num:2
o end
o else
o begin
o // param_text:If the 2 or 4 button is not pressed, it will move the steering device to central location.
o if param_src:var:SteeringDirection lop:== param_src:dec_num:1 rop:then
o begin
o compute param_dest:aux_servo:3:2 param_src:var:HandleCenterPosition aop:+ param_src:dec_num:40
o load param_dest:cm:33 param_src:timer_num:4
o wait param_src:cm:33 lop:> param_src:timer_num:0 rop:then
o end
o elseif param_src:var:SteeringDirection lop:== param_src:dec_num:2 rop:then
o begin
o compute param_dest:aux_servo:3:2 param_src:var:HandleCenterPosition aop:- param_src:dec_num:40
o load param_dest:cm:33 param_src:timer_num:4
o wait param_src:cm:33 lop:> param_src:timer_num:0 rop:then
o end
o load param_dest:aux_servo:3:2 param_src:var:HandleCenterPosition
o load param_dest:var:SteeringDirection param_src:dec_num:0
o end
o end
- 
o label laddr_src:LineTracerMode
o // param_text:Forward
o load param_dest:aux_motor:1 param_src:dir_num:1724
- 
o while(1)
o begin
o // param_text:If black line is detected from a left sensor, it will handle the steering device leftwards,  
o // param_text:If black line is detected from a right sensor, it will handle the steering device rightwards.
o // param_text:Otherwise, it will move it to central location. 
o if param_src:cm:50 lop:< param_src:dec_num:300 rop:&& param_src:cm:52 lop:> param_src:dec_num:300 rop:then
o load param_dest:aux_servo:3:2 param_src:dec_num:350
o elseif param_src:cm:50 lop:> param_src:dec_num:300 rop:&& param_src:cm:52 lop:< param_src:dec_num:300 rop:then
o load param_dest:aux_servo:3:2 param_src:dec_num:673
o else
o load param_dest:aux_servo:3:2 param_src:var:HandleCenterPosition
o end
o end
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