Tutorial Guide

67
Lesson 7 Advanced Course
Checking the “Kick” group program
Maintaining system parameter values
SET pan Head_Pan
WAIT 500
“Pan” is a user parameter where the value of the Head_Pan
system parameter is temporarily stored. Then, the program
waits for 500 ms (0.5 seconds).
Confirm that the ball has stopped
IF Head_Pan = pan DO_KICK
ELSE Continue
This program compares the “Head_PAN” value stored
0.5 second ago with the present value. If the values are the
same, the program jumps to the DO_KICK box; if not, it
jumps to the Continue box.
If the present value is the same as the one stored 0.5 second
ago, the program concludes that the ball has not moved.
AIBO thus kicks at that location. If the values are different, it
concludes that the ball has moved. AIBO thus continues
searching for the ball.
User parameters that start with a
small letter can be defined and
used whenever necessary.
Stop tracking the ball and kick it
STOP
PLAY ACTION KICK pan 1000
WAIT
The STOP command stops the execution of on-going commands.
Until now, execution of the command in the START_TRACKING box has
continued, but it is finally stopped by the STOP command.
PLAY ACTION TRACK_HEAD PINK_BALL
PLAY ACTION KICK pan 1000
The above command causes AIBO to kick the ball 100 cm
at the angle indicated by the “pan” user parameter.
To roll the ball a long distance, AIBO is commanded to kick the top part of the
ball.
The WAIT command causes the program to wait until AIBO finishes kicking.
The distance is measured from the center of AIBO’s body to the point of contact
between the ball and the floor.