Tutorial Guide

58
Lesson 6 Advanced Course
Executing several actions simultaneously
Let’s modify the existing program so that several commands are
executed simultaneously, such as AIBO searching for obstacles while
walking.
1 Open the “GO_AHEAD Action Box” Properties
box.
2 Change the walking distance.
Change the distance in the PLAY-ACTION-WALK-0-100
command from 100 mm to 10,000 mm.
3 Click WAIT, Delete, and then the OK button.
Next, we’ll loop the program so that AIBO checks for obstacles
every second when none has yet to be detected.
4 In the “OBJECT? Action Box” Properties box,
change “Else GO_AHEAD” to “Else
WAIT_1SEC,” and then close the Properties
box.
AIBO continues walking since a
long distance (10,000 mm) is
specified.
Since the WAIT command has
been deleted, the commands in
“OBJECT?” box are executed right
after the “walk forward for 10 cm”
command is executed.
AIBO then searches for obstacles
as it walks forward.
In the box, the jump destination
has been changed from
“GO_AHEAD” to “WAIT_1SEC.”