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R-Code.R-Code History

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April 09, 2006, at 03:34 PM CST by iofreak - Fixing PINK_BALL in Soccer sample
Changed line 22 from:
	PLAY:ACTION:SEARCH.HEAD.LOWCENT:Pink_Ball
to:
	PLAY:ACTION:SEARCH.HEAD.LOWCENT:PINK_BALL
Changed lines 27-28 from:
	PLAY:ACTION:TRACK_HEAD:Pink_Ball
to:
	PLAY:ACTION:TRACK_HEAD:PINK_BALL
April 08, 2006, at 12:11 PM CST by iofreak -
Changed lines 10-11 from:
to:
February 05, 2006, at 08:09 PM CST by iofreak -
Changed lines 10-11 from:
to:
February 05, 2006, at 08:09 PM CST by iofreak -
Deleted lines 5-6:
Changed lines 10-15 from:

Official R-CODE Reference Documents from SONY

to:
Changed lines 95-101 from:

(:sourcend:)

to:

(:sourcend:)

Official R-CODE Reference Documents from SONY

February 05, 2006, at 08:07 PM CST by iofreak -
Changed lines 6-7 from:
to:
February 05, 2006, at 08:07 PM CST by iofreak -
Added lines 6-7:
February 05, 2006, at 05:12 PM CST by iofreak -
Changed lines 10-11 from:

Official R-CODE Reference Documents from SONY

to:

Official R-CODE Reference Documents from SONY

Changed lines 16-17 from:

(:source lang=rcode header="Example R-Code Program, Simple Soccer Player (ERS-2xx)":)

to:

Example of a R-CODE Program

(:source lang=rcode header="Simple Soccer Player for AIBO ERS-2xx":)

February 05, 2006, at 05:04 PM CST by iofreak -
Changed lines 16-17 from:

(:source lang=rcode:)

to:

(:source lang=rcode header="Example R-Code Program, Simple Soccer Player (ERS-2xx)":)

February 05, 2006, at 05:01 PM CST by iofreak -
Changed lines 14-97 from:
to:

(:source lang=rcode:) :Main

	PLAY:ACTION:STAND
	WAIT
	PRINT:"CENTER HEAD"
	PLAY:ACTION:MOVE_HEAD:0:0
	WAIT
	PRINT:"MOVE HEAD AROUND UNTIL BALL IS SEEN"
	PLAY:ACTION:SEARCH.HEAD.LOWCENT:Pink_Ball
	WAIT 

:StartTracking

	PRINT:"SEE THE BALL, START TRACKING IT"
	PLAY:ACTION:TRACK_HEAD:Pink_Ball

:CheckBall

	IF:Pink_Ball:=:1:THEN
 		PRINT:"GOOD, PINK BALL STILL IN SIGHT"
 		GO:BallDir
	ELSE
 		PRINT:"LOST IT, JUST WAIT UNTIL TRACK COMMAND TIMES OUT"
 		WAIT
 		PRINT:"NOW START OVER"
 		GO:Main        
	ENDIF

:BallDir

	PRINT:"SEE IF THE BALL IS WAY OFF ON AIBO'S SIDE"
	WAIT:1
	// CHECK ONE SIDE
	IF:Head_Pan:>:35:THEN
 		IF:Wait:=:1:THEN
 			PRINT:"IT IS SO TURN IN THAT DIRECTION"
 			PLAY:ACTION:TURN:Head_Pan
 			GO:HoldASec
 		ENDIF
	ENDIF
	// NOW THE OTHER SIDE  
	IF:Head_Pan:<:-35:THEN
 		IF:Wait:=:1:THEN
 			PRINT:"IT IS SO TURN IN THAT DIRECTION"
 			PLAY:ACTION:TURN:Head_Pan
 			GO:HoldASec
 		ENDIF
	ENDIF

	// BALL MUST BE SOMEWHAT IN FRONT OF AIBO
	IF:Head_Tilt:>:-60:THEN
 		IF:Wait:=:1:THEN
 			PRINT:"WALK FOREWORD A BIT, ADJUST DIR SLIGHTLY"
 			PLAY:ACTION:WALK:Head_Pan:30
 			GO:HoldASec
 		ENDIF
	ENDIF
	GO:KickIt

:HoldASec

	WAIT:10
	IF:Wait:<>:1:THEN
 		GO:HoldASec
	ELSE
 		PRINT:"NOW RE-ORIENT AIBO VS. BALL" 
 		GO:BallDir
	ENDIF

:KickIt

	PRINT:"SAVE SNAPSHOT OF HEAD PAN VALUE BEFORE WE MOVE"
	SET:pan:Head_Pan
	WAIT:500
	IF:Head_Pan:=:pan:THEN
 		PRINT:"STOP TRACKING"
 		STOP
 		PRINT:"KICK AT THE BALL"
 		PLAY:ACTION:KICK:pan:1000
 		WAIT
 		WAIT
 		PRINT:"START FROM THE BEGINNING"
 		GO:Main
	ELSE
 		GO:CheckBall
	ENDIF

(:sourcend:)

February 05, 2006, at 04:32 PM CST by iofreak -
Added lines 1-2:

(:title Overview:)

Changed lines 10-11 from:

Official R-CODE Reference Documents from SONY:

to:

Official R-CODE Reference Documents from SONY

February 05, 2006, at 04:29 PM CST by iofreak -
Changed lines 8-9 from:

Sony's Official R-CODE Reference Documents:

to:

Official R-CODE Reference Documents from SONY:

February 05, 2006, at 04:27 PM CST by iofreak -
Changed lines 8-9 from:

Sony's Official R-CODE Reference Documents:

to:

Sony's Official R-CODE Reference Documents:

Changed lines 11-12 from:
to:
February 05, 2006, at 04:09 PM CST by iofreak -
Changed lines 8-10 from:
to:

Sony's Official R-CODE Reference Documents:

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Page last modified on April 09, 2006, at 03:34 PM CST