Tutorial Guide

61
Lesson 6 Advanced Course
Saving the program and running it on
AIBO
Save the program with the name “Lesson6.be” to the “Memory
Stick” and run it on AIBO.
Let’s check the actions that you’ve altered.
When the Back box is executed, AIBO carries out the following four
actions simultaneously.
• Waits 5 seconds
• Walks backwards
• Twirls the tail (ERS-210 only)
• Inclines the head 50° to the left
Afterwards, AIBO executes the GO_AHEAD box,. Since the commands
for twirling the tail and inclining the head continue to be valid after the
execution of the GO_AHEAD command, the execution of both
commands continues thereafter.
In contrast to previous lessons, several commands can thus be
executed simultaneously by not using the WAIT command (WAIT 0).
The WAIT command should be used as required on a case by case
basis.
The program that you made in this lesson is
the same as the program in the “Tutorial6b.be” file in the
“\Sample\model name”.
Verify that the program was properly created.
z HINT
• Of the system actions, the actions of waking and moving the head (WALK,
MOVE...), searching (SEARCH...), moving the ears and tail (PALONE...) and
lighting of the LED (SMESS...) are followed by the immediate execution of the
next command when a WAIT command with no parameter is not used
(overwriting of the command occurs).
If there is a need to interrupt the on-going execution of the current command
in order to execute the next command, execution of the previous command is
aborted and the new command is executed (e.g., switching from walking
forward to walking backwards).
If there is no need to interrupt the execution of the current command, the
execution of the current command continues (e.g., the commands for
twirling the tail and inclining the head are still valid even after AIBO
switches from walking forward to walking backward (or vice versa)).
Also, if a WAIT command with a no parameter is not used with system
actions other than those mentioned above and user actions created with
Action Composer, the next command is placed in the queue and is executed
immediately after the current command.
If, however, you issue more commands that are not executed immediately,
the queue may become full, resulting in an overflow that might cause the
program to run improperly.
Do not overwrite the
“Tutorial6a.be” file used in this
lesson so that you can use it again
in the future.
See page 12.
See page 55 of the User‘s Guide.