'================================================ ' MiniROBO is ROBOZAK_jr ' IR Remocon Templet program(Ver. 1.00) ' RR : internal parameter variable / ROBOREMOCON ' A : temporary variable / REMOCON ' 2011/7/17 By takuo '== auto_main =================================== 'GOTO AUTO FILL 255,10000 DIM RR AS BYTE DIM A AS BYTE DIM B1 AS BYTE DIM B2 AS BYTE DIM C AS BYTE DIM i AS BYTE CONST ID = 0 ' 1:0, 2:32, 3:64, 4:96, C=0 PTP SETON PTP ALLON '== motor diretion setting ====================== DIR G6A,1,1,1,0,0,0 DIR G6B,0,1,0,0,0,0 DIR G6C,0,0,0,0,0,0 DIR G6D,0,0,0,1,1,1 '================================================ '== motor start position read =================== GETMOTORSET G6A,1,1,1,0,0,0 GETMOTORSET G6B,1,1,0,0,0,0 GETMOTORSET G6C,1,1,0,0,0,0 GETMOTORSET G6D,1,1,1,0,0,0 SPEED 5 MOTOR G6A ' No.0~5 Motors MOTOR G6B ' No.6~11 Motors MOTOR G6C ' No.12~17 Motors MOTOR G6D ' No.18~23 Motors '================================================ '== motor off setting ========================== MOTOROFF 3 MOTOROFF 4 MOTOROFF 5 MOTOROFF 8 MOTOROFF 9 MOTOROFF 10 MOTOROFF 11 MOTOROFF 14 MOTOROFF 15 MOTOROFF 16 MOTOROFF 17 MOTOROFF 21 MOTOROFF 22 MOTOROFF 23 '================================================ '** Zero Point Setting ************************** ZERO G6A, 98, 103, 100 ZERO G6B,100, 100 ZERO G6C,100, 100 ZERO G6D, 98, 99, 100 '************************************************ '== motor start position read =================== TEMPO 230 MUSIC "CDE" GOSUB standard_pose '================================================ '================================================ MAIN: A = REMOCON(1) A = A - ID IF A>0 THEN OUT 52,0 ENDIF B1 = MOTORIN(7) B2 = MOTORIN(7) IF C=1 AND B1<15 THEN SPEED 20 SERVO 7,10 SERVO 7,30 DELAY 200 SERVO 7,15 SPEED 5 ENDIF IF C=1 AND B2<15 THEN SPEED 20 SERVO 13,10 SERVO 13,30 DELAY 200 SERVO 13,15 SPEED 5 ENDIF ON A GOTO MAIN,K1,K2,K3,K4,K5,K6,K7,K8,K9,K10,K11,K12,K13,K14,K15,K16,K17,K18,K19,K20,K21,K22,K23,K24,K25,K26,K27,K28,K29,K30,K31,K32 GOSUB robot_voltage GOTO MAIN '================================================ '================================================ k1: ' Key1 SPEED 5 MOVE G24, 91,110,110,,,,50,30,,,,,50,30,,,,, 86,110,110,,, FOR i=0 TO 4 OUT 52,1 DELAY 200 OUT 52,0 DELAY 200 NEXT i DELAY 500 GOSUB standard_pose GOTO MAIN '================================================ k2: ' Key2 SPEED 10 HIGHSPEED SETON FOR i=0 TO 2 MOVE G6B, 70, 10, , , , DELAY 100 MOVE G6B, 70, 20, , , , DELAY 100 NEXT i HIGHSPEED SETOFF DELAY 400 SPEED 5 MOVE G24, 114, 112, 100, , , , 70, 60, , , , , 70, 15, , , , , 110, 145, 100, , , WAIT DELAY 2000 GOSUB standard_pose DELAY 500 SPEED 10 HIGHSPEED SETON FOR i=0 TO 2 MOVE G6C, 70, 10, , , , DELAY 100 MOVE G6C, 70, 20, , , , DELAY 100 NEXT i HIGHSPEED SETOFF DELAY 400 SPEED 5 MOVE G24, 110, 145, 100, , , , 70, 15, , , , , 70, 60, , , , , 114, 112, 100, , , WAIT DELAY 2000 GOSUB standard_pose GOTO MAIN '================================================ k3: ' Sumou SPEED 4 MOVE G24, 115, 115, 100, , , , 70, 15, , , , , 70, 15, , , , , 115, 145, 100, , , MOVE G24, 118, 115, 100, , , , 70, 120, , , , , 70, 50, , , , , 115, 160, 100, , , DELAY 1000 SPEED 10 MOVE G24, 75, 125, 105, , , , 70, 100, , , , , 70, 100, , , , , 75, 125, 105, , , WAIT DELAY 1000 SPEED 3 MOVE G24, 75, 120, 90, , , , 70, 100, , , , , 70, 100, , , , , 75, 120, 90, , , MOVE G24, 80, 115, 110, , , , 70, 100, , , , , 70, 100, , , , , 80, 115, 110, , , MOVE G24, 90, 110, 105, , , , 70, 100, , , , , 70, 100, , , , , 90, 110, 105, , , FOR i=0 TO 1 SPEED 2 MOVE G6A, 108, 92, 100, , , MOVE G6D, 108, 92, 100, , , DELAY 500 MOVE G6A, 100, 90, 105, , , MOVE G6D, 100, 90, 105, , , NEXT i SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k4: ' Key4 SPEED 15 MOVE G24, 35, 100, 100, , , , 70, 100, , , , , 70, 100, , , , , 35, 100, 100, , , DELAY 500 SPEED 5 GOSUB standard_pose DELAY 500 ' Warming-up SPEED 7 FOR i=0 TO 2 MOVE G6A, 75, 100, 100, , , MOVE G6D, 75, 100, 100, , , MOVE G6B, 110, 15, , , , MOVE G6C, 30, 15, , , , GOSUB standard_pose MOVE G6A, 75, 100, 100, , , MOVE G6D, 75, 100, 100, , , MOVE G6C, 110, 15, , , , MOVE G6B, 30, 15, , , , GOSUB standard_pose NEXT i GOTO MAIN '================================================ k5: ' Fura dance SPEED 3 FOR i=0 TO 4 MOVE G24, 130, 70, 101, , , , 70, 110, , , , , 70, 90, , , , , 70, 130, 100, , , MOVE G24, 70, 130, 101, , , , 70, 90, , , , , 70, 110, , , , , 130, 70, 100, , , NEXT i SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k6: ' 3-3-7 SPEED 10 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 70, 100, , , , MOVE G6C, 70, 100, , , , WAIT DELAY 500 MOVE G6B, 127, 30, , , , MOVE G6C, 127, 30, , , , WAIT DELAY 500 MOVE G6B, 190,120, , , , MOVE G6C, 190,120, , , , WAIT DELAY 500 SPEED 15 HIGHSPEED SETON MOVE G6A, 30, 186, 110, , , MOVE G6D, 75, 100, 110, , , MOVE G6B, 190, 150, , , , MOVE G6C, 190, 150, , , , DELAY 500 MOVE G6A, 45, 167, 110, , , MOVE G6D, 81, 101, 110, , , MOVE G6B, 190, 120, , , , MOVE G6C, 190, 120, , , , DELAY 500 MOVE G6A, 55, 150, 110, , , MOVE G6D, 85, 100, 110, , , MOVE G6B, 190, 90, , , , MOVE G6C, 190, 90, , , , DELAY 500 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 190, 60, , , , MOVE G6C, 190, 60, , , , DELAY 750 MOVE G6D, 30, 186, 110, , , MOVE G6A, 75, 100, 110, , , MOVE G6B, 190, 150, , , , MOVE G6C, 190, 150, , , , DELAY 500 MOVE G6D, 45, 167, 110, , , MOVE G6A, 81, 101, 110, , , MOVE G6B, 190, 120, , , , MOVE G6C, 190, 120, , , , DELAY 500 MOVE G6D, 55, 150, 110, , , MOVE G6A, 85, 100, 110, , , MOVE G6B, 190, 90, , , , MOVE G6C, 190, 90, , , , DELAY 500 MOVE G6D, 80, 120, 110, , , MOVE G6A, 80, 120, 110, , , MOVE G6B, 190, 60, , , , MOVE G6C, 190, 60, , , , DELAY 750 MOVE G6A, 30, 186, 110, , , MOVE G6D, 75, 100, 110, , , MOVE G6B, 190, 150, , , , MOVE G6C, 190, 150, , , , DELAY 500 MOVE G6A, 45, 167, 110, , , MOVE G6D, 81, 101, 110, , , MOVE G6B, 190, 120, , , , MOVE G6C, 190, 120, , , , DELAY 500 MOVE G6A, 55, 150, 110, , , MOVE G6D, 85, 100, 110, , , MOVE G6B, 190, 90, , , , MOVE G6C, 190, 90, , , , DELAY 500 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 190, 60, , , , MOVE G6C, 190, 60, , , , DELAY 750 MOVE G6A, 75, 125, 110, , , MOVE G6D, 75, 125, 110, , , MOVE G6B, 190, 190, , , , MOVE G6C, 190, 190, , , , DELAY 500 MOVE G6A, 75, 125, 110, , , MOVE G6D, 75, 125, 110, , , MOVE G6B, 190, 170, , , , MOVE G6C, 190, 170, , , , DELAY 500 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 190, 140, , , , MOVE G6C, 190, 140, , , , DELAY 500 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 190, 110, , , , MOVE G6C, 190, 110, , , , DELAY 500 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 190, 80, , , , MOVE G6C, 190, 80, , , , DELAY 500 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 190, 50, , , , MOVE G6C, 190, 50, , , , DELAY 500 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 190, 20, , , , MOVE G6C, 190, 20, , , , DELAY 750 HIGHSPEED SETOFF SPEED 7 FOR i=0 TO 5 MOVE G6B, 190, 20, , , , MOVE G6C, 190, 20, , , , WAIT MOVE G6B, 190, 40, , , , MOVE G6C, 190, 40, , , , WAIT NEXT i DELAY 200 SPEED 20 HIGHSPEED SETON MOVE G6B, 70, 100, , , , MOVE G6C, 70, 100, , , , DELAY 1500 HIGHSPEED SETOFF GOSUB standard_pose DELAY 1000 SPEED 5 MOVE G24, 91,110,110,,,,50,30,,,,,50,30,,,,, 86,110,110,,, DELAY 1000 GOSUB standard_pose GOTO MAIN '================================================ k7: ' Wing SPEED 4 MOVE G6D, 100, 100, 100, , , MOVE G6A, 134, 80, 100, , , MOVE G6B, 80, 10, , , , MOVE G6C, 80, 10, , , , DELAY 500 SPEED 12 FOR i =0 TO 5 MOVE G6B, 80, 140, , , , MOVE G6C, 80, 140, , , , DELAY 100 MOVE G6B, 80, 60, , , , MOVE G6C, 80, 60, , , , DELAY 100 NEXT i SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k8: ' Swimming SPEED 4 MOVE G6D, 100, 100, 100, , , MOVE G6A, 134, 80, 100, , , MOVE G6B, 20, 60, , , , MOVE G6C, 20, 60, , , , DELAY 500 FOR i =0 TO 5 SPEED 5 MOVE G6B, 20, 190, , , , MOVE G6C, 20, 190, , , , DELAY 100 SPEED 15 MOVE G6B, 20, 60, , , , MOVE G6C, 20, 60, , , , DELAY 100 NEXT i SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k9: ' SPEED 5 MOVE G24, 98, 100, 100, , , , 70, 15, , , , , 70, 15, , , , , 105, 115, 100, , , MOVE G24, 98, 100, 100, , , , 70, 15, , , , , 70, 15, , , , , 135, 142, 100, , , DELAY 500 SERVO 20,185 DELAY 750 SERVO 20,100 DELAY 750 SERVO 20,15 DELAY 750 SERVO 20,100 DELAY 750 MOVE G24, 98, 100, 100, , , , 70, 15, , , , , 70, 15, , , , , 135, 142, 100, , , MOVE G24, 98, 100, 100, , , , 70, 15, , , , , 70, 15, , , , , 105, 115, 100, , , DELAY 500 GOSUB standard_pose DELAY 500 ' MOVE G24, 105, 115, 100, , , , 70, 15, , , , , 70, 15, , , , , 98, 100, 100, , , MOVE G24, 135, 142, 100, , , , 70, 15, , , , , 70, 15, , , , , 98, 100, 100, , , DELAY 500 SERVO 2,185 DELAY 750 SERVO 2,100 DELAY 750 SERVO 2,15 DELAY 750 SERVO 2,100 DELAY 750 MOVE G24, 135, 142, 100, , , , 70, 15, , , , , 70, 15, , , , , 98, 100, 100, , , MOVE G24, 105, 115, 100, , , , 70, 15, , , , , 70, 15, , , , , 98, 100, 100, , , DELAY 500 GOSUB standard_pose GOTO MAIN '================================================ k10: ' banzai FOR i=0 TO 2 SPEED 5 MOVE G6B, 50, 15, , , , MOVE G6C, 50, 15, , , , DELAY 500 SPEED 10 MOVE G6B, 190, 15, , , , MOVE G6C, 190, 15, , , , DELAY 1000 NEXT i GOSUB standard_pose GOTO MAIN '================================================ k11: ' ^ 1 ' forward walk SPEED 10 FOR i=0 TO 4 MOVE G6A, 115, 100, 80, , , MOVE G6D, 96, 95, 125, , , WAIT MOVE G6A, 108, 97, 80, , , MOVE G6D, 102, 97, 125, , , WAIT MOVE G6D, 116, 100, 80, , , MOVE G6A, 95, 95, 115, , , WAIT MOVE G6D, 109, 97, 80, , , MOVE G6A, 101, 97, 115, , , WAIT NEXT i SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k12: ' _ 1 ' backward walk SPEED 10 FOR i=0 TO 4 MOVE G6A, 115, 100, 120, , , MOVE G6D, 95, 95, 80, , , WAIT MOVE G6A, 108, 97, 120, , , MOVE G6D, 101, 97, 80, , , WAIT MOVE G6D, 115, 100, 120, , , MOVE G6A, 95, 95, 80, , , WAIT MOVE G6D, 108, 97, 120, , , MOVE G6A, 101, 97, 80, , , WAIT NEXT i SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k13: ' > 1 ' Rigth shift SPEED 7 MOVE G6A, 110, 105, 100, , , MOVE G6D, 70, 105, 100, , , WAIT MOVE G6A, 108, 125, 100, , , MOVE G6A, 117, 105, 100, , , MOVE G6D, 75, 125, 100, , , WAIT MOVE G6A, 100, 125, 100, , , MOVE G6D, 120, 100, 100, , , WAIT MOVE G6A, 80, 110, 100, , , MOVE G6D, 115, 100, 100, , , WAIT MOVE G6A, 85, 95, 100, , , MOVE G6A, 95, 95, 100, , , MOVE G6D, 105, 100, 100, , , SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k14: ' < 1 ' left shift SPEED 7 MOVE G6D, 110, 105, 100, , , MOVE G6A, 70, 105, 100, , , WAIT MOVE G6D, 108, 125, 100, , , MOVE G6D, 117, 105, 100, , , MOVE G6A, 75, 125, 100, , , WAIT MOVE G6D, 100, 125, 100, , , MOVE G6A, 120, 100, 100, , , WAIT MOVE G6D, 80, 110, 100, , , MOVE G6A, 115, 100, 100, , , WAIT MOVE G6D, 85, 95, 100, , , MOVE G6D, 95, 95, 100, , , MOVE G6A, 105, 100, 100, , , SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k15: ' A ' Left forward attack SPEED 20 HIGHSPEED SETON MOVE G6A, 35, 190, 130, , , MOVE G6D, 70, 100, 66, , , MOVE G6B, 70, 140, , , , MOVE G6C, 70, 50, , , , WAIT HIGHSPEED SETOFF DELAY 1000 SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k16: 'Power SW ' sit down & OFF MOVE G6A, 30, 170, 100, , , MOVE G6D, 30, 170, 100, , , MOVE G6B, 70, 15, , , , MOVE G6C, 70, 15, , , , WAIT OUT 52,1 GOTO MAIN '================================================ k17: ' C ' Left backward attack SPEED 20 HIGHSPEED SETON MOVE G6A, 40, 186, 62, , , MOVE G6D, 80, 90, 146, , , MOVE G6B, 70, 140, , , , MOVE G6C, 70, 70, , , , HIGHSPEED SETOFF DELAY 1000 SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k18: ' E ' taisou1 MOVE G6A, 80, 120, 110, , , MOVE G6D, 80, 120, 110, , , MOVE G6B, 70, 15, , , , MOVE G6C, 70, 15, , , , DELAY 500 SPEED 15 HIGHSPEED SETON FOR i=0 TO 2 MOVE G6B, 70, 100, , , , MOVE G6C, 70, 15, , , , DELAY 500 MOVE G6B, 70, 190, , , , MOVE G6C, 70, 100, , , , DELAY 500 MOVE G6B, 130, 15, , , , MOVE G6C, 70, 190, , , , DELAY 500 MOVE G6B, 70, 15, , , , MOVE G6C, 130, 15, , , , DELAY 500 NEXT i HIGHSPEED SETOFF SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k19: ' P2 ' Auto defence OFF C=0 FOR i=0 TO 1 OUT 52,1 DELAY 200 OUT 52,0 DELAY 200 NEXT i GOTO MAIN '================================================ k20: ' B ' Right forward attack SPEED 20 HIGHSPEED SETON MOVE G6D, 35, 190, 130, , , MOVE G6A, 70, 100, 66, , , MOVE G6C, 70, 140, , , , MOVE G6B, 70, 50, , , , WAIT HIGHSPEED SETOFF DELAY 1000 SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k21: ' ^ 2 ' forward attack SPEED 20 HIGHSPEED SETON MOVE G6B, 130, 15, , , , MOVE G6C, 130, 15, , , , DELAY 500 MOVE G6B, 130, 80, , , , WAIT MOVE G6B, 130, 15, , , , DELAY 500 MOVE G6C, 130, 80, , , , WAIT MOVE G6C, 130, 15, , , , HIGHSPEED SETOFF DELAY 1000 SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k22: ' * ' Left turn SPEED 5 MOVE G24, 114, 90, 100, , , , 70, 15, , , , , 70, 15, , , , , 74, 90, 100, , , MOVE G24, 114, 110, 100, , , , 70, 15, , , , , 70, 15, , , , , 115, 90, 100, , , WAIT DELAY 100 MOVE G24, 114, 110, 56, , , , 70, 15, , , , , 70, 15, , , , , 115, 110, 100, , , MOVE G24, 105, 90, 56, , , , 70, 15, , , , , 70, 15, , , , , 80, 120, 100, , , MOVE G24, 105, 90, 105, , , , 70, 15, , , , , 70, 15, , , , , 80, 120, 110, , , DELAY 500 FOR i = 0 TO 1 MOVE G6A,130,80,100,,, MOVE G6B, 70,15,,,, MOVE G6A,130,80,80,,, MOVE G6D, 75,120,120,,, MOVE G6A,100,100,80,,, MOVE G6D,100,100,120,,, NEXT i GOSUB standard_pose GOTO MAIN '================================================ k23: ' G ' Good by SPEED 7 MOVE G6B, 190, 10, , , , SPEED 2 FOR i=0 TO 5 OUT 52,1 MOVE G6B, 190, 10, , , , OUT 52,0 MOVE G6B, 190, 30, , , , NEXT i SPEED 7 MOVE G6B, 70, 15, , , , DELAY 500 MOVE G6C, 190, 10, , , , SPEED 2 FOR i=0 TO 5 OUT 52,1 MOVE G6C, 190, 10, , , , OUT 52,0 MOVE G6C, 190, 30, , , , NEXT i SPEED 5 MOVE G6C, 70, 15, , , , DELAY 500 GOTO MAIN '================================================ k24: ' # ' Right turn SPEED 5 MOVE G24, 74, 90, 100, , , , 70, 15, , , , , 70, 15, , , , , 114, 90, 100, , , MOVE G24, 110, 90, 100, , , , 70, 15, , , , , 70, 15, , , , , 114, 110, 100, , , WAIT DELAY 100 MOVE G24, 115, 110, 100, , , , 70, 15, , , , , 70, 15, , , , , 114, 110, 56, , , MOVE G24, 80, 120, 100, , , , 70, 15, , , , , 70, 15, , , , , 105, 90, 56, , , MOVE G24, 80, 120, 110, , , , 70, 15, , , , , 70, 15, , , , , 105, 90, 105, , , DELAY 500 FOR i = 0 TO 1 MOVE G6D,130,80,100,,, MOVE G6C, 70,15,,,, MOVE G6D,130,80,80,,, MOVE G6A, 75,120,120,,, MOVE G6D,100,100,80,,, MOVE G6A,100,100,120,,, NEXT i GOSUB standard_pose GOTO MAIN '================================================ k25: ' P1 ' Auto defence ON C=1 FOR i=0 TO 1 OUT 52,1 DELAY 200 OUT 52,0 DELAY 200 NEXT i SPEED 20 SERVO 7,10 SERVO 13,10 SERVO 7,30 SERVO 13,30 SERVO 7,15 SERVO 13,15 DELAY 200 SPEED 5 GOTO MAIN '================================================ k26: ' [] 1 ' site down MOVE G6A, 30, 170, 100, , , MOVE G6D, 30, 170, 100, , , MOVE G6B, 70, 15, , , , MOVE G6C, 70, 15, , , , WAIT DELAY 1500 GOSUB standard_pose GOTO MAIN '================================================ k27: ' D ' Right backward attack SPEED 20 HIGHSPEED SETON MOVE G6D, 40, 186, 62, , , MOVE G6A, 80, 90, 146, , , MOVE G6C, 70, 140, , , , MOVE G6B, 70, 70, , , , HIGHSPEED SETOFF DELAY 1000 SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k28: ' < 2 ' Left attack SPEED 20 HIGHSPEED SETON MOVE G6A, 35, 190, 110, , , MOVE G6D, 70, 100, 95, , , MOVE G6B, 70, 140, , , , MOVE G6C, 70, 50, , , , WAIT HIGHSPEED SETOFF DELAY 1000 SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k29: ' [] 2 ' site down & sing No.9 MOVE G6A, 75, 125, 100, , , MOVE G6D, 75, 125, 100, , , MOVE G6B, 70, 15, , , , MOVE G6C, 70, 15, , , , WAIT TEMPO 140 MUSIC "2e 4efggfedccde3e4 5 d2d4 " MUSIC "3e 4efggfedccde3d4 5 c2c4 " MUSIC "ddecd8ef4ecd8ef4edcdlgh " MUSIC "2e 4efggfedccde3d4 5 c3c4 " GOSUB standard_pose GOTO MAIN '================================================ k30: ' > 2 ' Right attack SPEED 20 HIGHSPEED SETON MOVE G6D, 35, 190, 110, , , MOVE G6A, 70, 100, 95, , , MOVE G6C, 70, 140, , , , MOVE G6B, 70, 50, , , , WAIT HIGHSPEED SETOFF DELAY 1000 SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k31: ' _ 2 ' backward attack SPEED 20 HIGHSPEED SETON MOVE G6B, 10, 10, , , , MOVE G6C, 10, 10, , , , DELAY 500 MOVE G6B, 10, 80, , , , WAIT MOVE G6B, 10, 10, , , , DELAY 500 MOVE G6C, 10, 80, , , , WAIT MOVE G6C, 10, 10, , , , HIGHSPEED SETOFF DELAY 1000 SPEED 5 GOSUB standard_pose GOTO MAIN '================================================ k32: ' F ' taisou2 SPEED 8 FOR i=0 TO 1 MOVE G6A, 101, 100, 110, , , MOVE G6D, 101, 100, 110, , , MOVE G6B, 70, 100, , , , MOVE G6C, 70, 100, , , , WAIT MOVE G6A, 106, 92, 105, , , MOVE G6D, 106, 93, 105, , , MOVE G6B, 85, 10, , , , MOVE G6C, 85, 10, , , , WAIT MOVE G6A, 101, 100, 110, , , MOVE G6D, 101, 100, 110, , , MOVE G6B, 70, 100, , , , MOVE G6C, 70, 100, , , , WAIT MOVE G6A, 106, 92, 105, , , MOVE G6D, 106, 93, 105, , , MOVE G6B, 85, 10, , , , MOVE G6C, 85, 10, , , , WAIT MOVE G6A, 101, 100, 110, , , MOVE G6D, 101, 100, 110, , , MOVE G6B, 120, 140, , , , MOVE G6C, 120, 140, , , , WAIT DELAY 500 NEXT i MOVE G6A, 101, 100, 110, , , MOVE G6D, 101, 100, 110, , , MOVE G6B, 70, 15, , , , MOVE G6C, 70, 15, , , , DELAY 500 SPEED 4 FOR i=0 TO 2 MOVE G6B, 70, 15, , , , MOVE G6C, 70, 15, , , , DELAY 500 MOVE G6B, 190, 10, , , , MOVE G6C, 190, 10, , , , DELAY 500 MOVE G6B, 70, 100, , , , MOVE G6C, 70, 100, , , , MOVE G6B, 70, 15, , , , MOVE G6C, 70, 15, , , , NEXT i GOSUB standard_pose GOTO MAIN '================================================ '================================================ standard_pose: MOVE G24,100,100,100,,,,70,15,,,,,70,15,,,,,100,100,100,,, RETURN '================================================ '================================================ robot_voltage: ' [ 10 x Value / 256 = Voltage] DIM v AS BYTE A = AD(6) IF A < 152 THEN ' 5.9v <- 5.8V (148) ' AC-Adapter 6.1V ' Battery 6.3V FOR i = 0 TO 4 OUT 52,1 DELAY 100 OUT 52,0 DELAY 100 NEXT i ENDIF RETURN '================================================