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R-Code » SystemVariables

R-CODE System Variables

Note: R-CODE System variables available to your program at runtime are AIBO model-dependent.

VariableDescriptionAibo Model(s)
AiboIdAIBO ID value (0-255) 0 when not connected via WLAN. When connected via WLAN, least significant byte of IP address.ERS-210ERS-220ERS-31xERS-7
AIBONEAIBO sees the AIBone (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-7
AIBONE_DThe estimated distance of the AIBone, in mm. The point of reference for the estimation is the center of AIBO's image sensor.ERS-7
AIBONE_HThe estimated horizontal angle of the AIBone, in degrees. The point of reference for the estimation is the center of AIBO's image sensor.ERS-7
AIBONE_VThe estimated vertical angle of the AIBone, in degrees. The point of reference for the estimation is the center of AIBO's image sensor.ERS-7
AiboTypeThe current model number of AIBO (ERS-210=210, ERS-220=220, ERS-310=310).ERS-210ERS-220ERS-31xERS-7
AU_VoiceAIBO recognized/heard a voice command (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
AU_Voice_IDVoice ID (1-53) see Voice ID List?ERS-210ERS-220ERS-31xERS-7
AU_AiboSoundAiboSound detection (0/1)??? Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
AU_AiboSound_IDAiboSound ID (1-35) see AiboSound ID List?ERS-210ERS-220ERS-31xERS-7
AU_AiboToneAIBO recognized/heard a tone sequence??? (0/1) Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
AU_AiboTone_IDAiboTone ID (1-68) see AiboTone ID List?ERS-210ERS-220ERS-31xERS-7
Back_LONGAIBO detected the back sensor was pressed for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220
Back_OFFThe durration of time the back sensor was pressed (in ms).ERS-210ERS-220
Back_ONAIBO detected the back sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220
Back_PatAIBO detected one of the back sensors was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-7
BackF_Jaw_LONGAIBO detected the front/back, and chin/back sensor was pressed for 3 seconds or longer (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-7
BackF_ONAIBO detected the front/back sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-7
BackFR_LONGAIBO detected the front and rear back sensor was pressed for 3 seconds or longer (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-7
BackM_ONAIBO detected the middle/back sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-7
BackR_HitAIBO detected one of the back sensors was hit(0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-7
BackR_ONAIBO detected the rear/back sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-7
Batt_RestPercentage reading from AIBO's battery sensor.ERS-210ERS-220ERS-31xERS-7
Batt_TempReading, in degrees Celcius, from AIBO's battery temperature sensor.ERS-210ERS-220ERS-31xERS-7
Body_TempReading, in degrees Celcius, from AIBO's body temperature sensor.ERS-210ERS-220ERS-31x
BrightnessAmbient brightness (0-255) detected.ERS-210ERS-220ERS-31xERS-7
ClockA variable that AIBO increments by 1 every 32 ms.ERS-210ERS-220ERS-31xERS-7
ContextThe current context value.ERS-210ERS-220ERS-31xERS-7
CTail_LONGAIBO detected the center tail sensor was pressed for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-220
CTail_OFFThe durration of time the center tail sensor was pressed (in ms).ERS-220
CTail_ONAIBO detected the center tail sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-220
DayDay of the month value (1-31) from AIBO's clock.ERS-210ERS-220 ERS-31xERS-7
DistanceDistance reading from AIBO's obstacle (infra-red) sensor. Accuracy 30-900mm.ERS-210ERS-220ERS-31xERS-7
Distance_CliffDistance reading from AIBO's cliff (infra-red) sensor. Accuracy ???-???mm.ERS-7
DowDay of the week value from AIBO's clock. (Sunday = 0, Monday = 1, ..., Saturday = 6)ERS-210ERS-220ERS-31xERS-7
FaceAIBO detected a Face (0/1)ERS-7
Head_HitAIBO detected the head sensor was touched briefly and forcefully (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
Head_LONGAIBO detected the head sensor was pressed for 3 seconds or more (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
Head_OFFThe durration of time the head sensor was pressed (in ms).ERS-210ERS-220ERS-31xERS-7
Head_ONAIBO detected the head sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
Head_PatAIBO detected the head sensor was stroked back and forth twice (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
Head_PanHorizontal (left-right) angle of AIBO's head, in degrees.ERS-210ERS-220ERS-31xERS-7
Head_RollRoll angle of AIBO's head, in degrees.ERS-210 ERS-220
Head_TiltVertical (up-down) angle of AIBO's head, in degrees.ERS-210ERS-220ERS-31xERS-7
Head_Tilt_22nd Vertical (up-down) angle of AIBO's head, in degrees.ERS-31xERS-7
HourThe hour value (0-23) from AIBO's clock.ERS-210ERS-220ERS-31xERS-7
Jaw_LONGAIBO detected the chin sensor was pressed for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210 ERS-220
Jaw_OFFThe durration of time the chin sensor was pressed (in ms).ERS-210 ERS-220
Jaw_ONAIBO detected the chin sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210 ERS-220
LFLeg_1Left-Front Leg J1 (hip joint) angle in degrees for front/back direction.ERS-210ERS-220ERS-31xERS-7
LFLeg_2Left-Front Leg J1 (hip joint) angle in degrees for left/right direction.ERS-210ERS-220ERS-31xERS-7
LFLeg_3Left-Front Leg J2 (knee joint) angle in degrees for front/back direction.ERS-210ERS-220ERS-31xERS-7
LFLeg_OFFThe durration of time the Left-Front paw sensor was pressed (in ms).ERS-210ERS-220ERS-31xERS-7
LFLeg_ONAIBO detected the Left-Front paw sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
LRLeg_1Left-Rear Leg J1 (hip joint) angle in degrees for front/back direction.ERS-210ERS-220ERS-31xERS-7
LRLeg_2Left-Rear Leg J1 (hip joint) angle in degrees for left/right direction.ERS-210ERS-220ERS-31xERS-7
LRLeg_3Left-Rear Leg J2 (knee joint) angle in degrees for front/back direction.ERS-210ERS-220ERS-31xERS-7
LRLeg_OFFThe durration of time the Left-Rear paw sensor was pressed (in ms).ERS-210ERS-220ERS-31xERS-7
LRLeg_ONAIBO detected the Left-Rear paw sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
LTail_LONGAIBO detected the left tail sensor was pressed for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-220
LTail_OFFThe durration of time the left tail sensor was pressed (in ms).ERS-220
LTail_ONAIBO detected the left tail sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-220
MinThe minute value (0-59) from AIBO's clock.ERS-210ERS-220ERS-31xERS-7
MonthThe month value (1-12) from AIBO's clock.ERS-210ERS-220ERS-31xERS-7
MouthThe angle of AIBO's mouth, in degrees.ERS-210
NoFallDownWhen set to a non-zero value, AIBO's automatic falldown recovery will become disabled. In this mode manner you could perform a roll over action and/or other motions that would normally be aborted when AIBO becomes upside-down or significantly tipped.ERS-210ERS-220ERS-31xERS-7
Pink_BallAIBO sees the Pink ball (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
Pink_Ball_DThe estimated distance of the Pink ball, in mm. The point of reference for the estimation is the center of AIBO's image sensor.ERS-210ERS-220ERS-31xERS-7
Pink_Ball_HThe estimated horizontal angle of the Pink ball, in degrees. The point of reference for the estimation is the center of AIBO's image sensor.ERS-210ERS-220ERS-31xERS-7
Pink_Ball_VThe estimated vertical angle of the Pink ball, in degrees. The point of reference for the estimation is the center of AIBO's image sensor.ERS-210ERS-220ERS-31xERS-7
PowerSets motor power on and off (1=On, 0=Off). If SET:Power:1 is used while AIBO has gone limp, after detecting a pinch, the gain will be restored.
Note The Power variable has no meaning for R-CODE versions 1.1 and later. The Power variable's function was disabled in order to ensure safety. Since the variable is still recognized, programs written in versions previous to R-CODE 1.1 won't break.
ERS-210ERS-220ERS-31xERS-7
RFLeg_1Right-Front Leg J1 (hip joint) angle in degrees for front/back direction.ERS-210ERS-220ERS-31xERS-7
RFLeg_2Right-Front Leg J1 (hip joint) angle in degrees for left/right direction.ERS-210ERS-220ERS-31xERS-7
RFLeg_3Right-Front Leg J2 (knee joint) angle in degrees for front/back direction.ERS-210ERS-220ERS-31xERS-7
RFLeg_OFFThe durration of time the Right-Front paw sensor was pressed (in ms).ERS-210ERS-220ERS-31xERS-7
RFLeg_ONAIBO detected the Right-Front paw sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
RRLeg_1Right-Rear Leg J1 (hip joint) angle in degrees for front/back direction.ERS-210ERS-220ERS-31xERS-7
RRLeg_2Right-Rear Leg J1 (hip joint) angle in degrees for left/right direction.ERS-210ERS-220ERS-31xERS-7
RRLeg_3Right-Rear Leg J2 (knee joint) angle in degrees for front/back direction.ERS-210ERS-220ERS-31xERS-7
RRLeg_OFFThe durration of time the Right-Rear paw sensor was pressed (in ms).ERS-210ERS-220ERS-31xERS-7
RRLeg_ONAIBO detected the Right-Rear paw sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-210ERS-220ERS-31xERS-7
RTail_LONGAIBO detected the right tail sensor was pressed for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-220
RTail_OFFThe durration of time the right tail sensor was pressed (in ms).ERS-220
RTail_ONAIBO detected the right tail sensor was pressed (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-220
SecThe second value (0-59) from AIBO's clock. Accurate to a 2 second resolution.ERS-210ERS-220ERS-31xERS-7
SeedThe seed value used by the RND command to generate random numbers. Default value is 1.ERS-210ERS-220ERS-31xERS-7
StatusAIBO's startup status (0=Normal, 1=Recovery). If AIBO recovers from falling, the program will be started again from the beginning. At this time, the value will be set to 1.ERS-210ERS-220ERS-31xERS-7
Tail_D_LONGAIBO detected the tail was pressed backward for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_D_ONAIBO detected the tail was pressed backward (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_L_LONGAIBO detected the tail was pressed left for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_L_ONAIBO detected the tail was pressed left (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_PanHorizontal (left/right) angle of AIBO's tail, in degrees.ERS-210
Tail_R_LONGAIBO detected the tail was pressed right for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_R_ONAIBO detected the tail was pressed right (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_Roll3AIBO detected the tail was rotated 3 times in either direction (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_RollLAIBO detected the tail was rotated counterclockwise (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_RollRAIBO detected the tail was rotated clockwise (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_TiltVertical (up/down) angle of AIBO's tail, in degrees.ERS-210
Tail_U_LONGAIBO detected the tail was pressed foreward for 3 or more seconds (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Tail_U_ONAIBO detected the tail was pressed foreward (0/1). Value WILL NOT automatically return to 0 after being set by associated sensor(s). SET must be used to manually return reset value to 0.ERS-31x
Temp_HiTemperature at which operation is suppressed (for safety, a forced shutdown will be executed in 20 seconds).ERS-210ERS-220ERS-31xERS-7
WaitThe number of actions AIBO is currently waiting for completion of.ERS-210ERS-220ERS-31xERS-7
YearThe year value (2000 and up) from AIBO's clock.ERS-210ERS-220ERS-31xERS-7

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Page last modified on October 23, 2006, at 08:41 PM CST