Tutorial Guide

36
Lesson 4 Intermediate Course
4 Move the WALK_BOW box and the END boxes
downward.
2 Setting branch conditions in branch boxes
In this lesson, you’ll create a box defining the following branch
condition.
“If the head was pressed, AIBO bows. If not, the program jumps to
another box.”
1 Click the box and place it between the
STAND and WALK_BOW boxes.
2 Enter the box name and command, and then
close the Properties box.
Name : TOUCH_HEAD?
1 Enter the command, “if the head was pressed, jump to the
WALK_BOW action box.”
Type Variable Op Var/Value JumpTo
IF Head_ON = 1 WALK_BOW
2 Enter the command, “If the head was not pressed.”
Type JumpTo
ELSE null*
To move 2 boxes at the same time,
select them by dragging the mouse
to enclose them. Then move them
by dragging them to make a space
between the STAND and
WALK_BOW boxes.
This creates a program that
determines whether the head
sensor was pressed or not, and
then jumps to the next action.
If AIBO’s head was pressed
(HEAD_ON=1), jump to the
WALK_BOW box.
If else, jump to null.
* The box that the program jumps
to will be created at a later stage,
so select “null,” which signifies
“not yet determined.”
When you make a box and
connect the two boxes with a
line, the “null” will be
automatically changed to the
name of the connected box.
A branch box displays two
terminals since it has two branch
conditions.
The jump destination
is specified in step 1,
so the boxes are
connected with a line
automatically.