Tutorial Guide

Lesson 7 Advanced Course

Changing the direction of the body

According to the location of the ball

The commands below are specified in the

SIDE? action box which the program jumps to

when AIBO sees the pink ball.

IF Head_Pan > 35

AND Wait = 1 TURN

IF Head_Pan < -35

AND Wait = 1 TURN

ELSE NEAR?

The Head_Pan system parameter indicates the

horizontal angle of AIBO’s neck. If the angle

is more than or less than 35° and the Wait

value is “1,” the program jumps to the TURN

box which changes the direction of AIBO’s

body.

The Wait value indicates the number of on-

going commands. When AIBO searches for

the ball, the following command is executed,

and so the value becomes “1.”

PLAY ACTION TRACK_HEAD PINK_BALL

Otherwise, the ball is in front of AIBO, and so

the program jumps to the “Near?” box, which

calculates the distance to the ball.

Finding the distance to the ball

IF Head_Tilt > -60

AND Wait = 1 WALK

ELSE KICK

The above command determines whether the ball is nearby or far away by the

angle of AIBO’s neck.

If the angle is more than -60°, i.e., if the head faces upward, it could be

concluded that the ball is far away.

When the Wait value is “1,” it means AIBO is still searching for the ball, and so

the program jumps to the WALK box.

If the angle is less than -60°, i.e., if the head is facing downward, it can be

concluded that the ball is near AIBO’s legs. The program then jumps to the

KICK group box.