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  1. 'Testprogramm Nutzung von roboRemocon unter roboBASIC
  2. '
  3. '==== Initialisierung ====
  4. DIM RR AS BYTE' In "RR" übergibt RoboRemocon die gedrückte TasteRR = 0 '
  5. RR = 0 'gibt Nutzung von RoboRemocon frei
  6. DIM A AS BYTE ' In “A” übergibt reale Fernbedienung die gedrückte Taste
  7. DIM i AS BYTE
  8. CONST ID = 0
  9. DIM dis AS BYTE ' 1:0, 2:32, 3:64, 4:96
  10. DIM VH AS BYTE
  11.  
  12. PTP SETON
  13. PTP ALLON
  14. '== motor direction setting ======================
  15. DIR G6A,1,0,0,1,0,0
  16. DIR G6B,1,1,1,1,1,1
  17. DIR G6C,0,0,0,0,0,0
  18. DIR G6D,0,1,1,0,1,0
  19. '== aktuelle Positionen auslesen und beibehalten =
  20. GETMOTORSET G6A,1,1,1,1,1,0
  21. GETMOTORSET G6B,1,1,1,0,0,0
  22. GETMOTORSET G6C,1,1,1,0,0,0
  23. GETMOTORSET G6D,1,1,1,1,1,0
  24. '== motor power on =============================
  25. MOTOR G24
  26. SPEED 5
  27. '==== Hauptprogramm =====
  28. MAIN:
  29.  
  30.  
  31. ' Sitzposition festlegen
  32. MOVE G6A, 103, 167, 23, 129, 97,
  33. MOVE G6D, 99, 165, 21, 129, 97,
  34. MOVE G6B, 103, 23, 89, , ,
  35. MOVE G6C, 105, 26, 87, , ,
  36. ' Eingabe per RemoCon pruefen
  37. IF RR <> 0 THEN
  38. A = RR
  39. RR = 0
  40. ON A GOTO MAIN, Knopf1, Knopf2, Knopf3, testWalk4 , upstair5
  41. ENDIF
  42. ' Eingabe per IR-Fernbedienung pruefen
  43. A = REMOCON(1)
  44. A = A -ID
  45. ON A GOTO MAIN, Knopf1, Knopf2, Knopf3, testWalk4, upstair5
  46.  
  47.  
  48. GOTO MAIN
  49.  
  50.  
  51. ' === Unterprogramme ====
  52. Knopf1: 'rechten Arm heben
  53. MOVE G6C, 107, 101, 102, , ,
  54.  
  55. GOTO MAIN 'RETURN
  56.  
  57.  
  58.  
  59.  
  60. standard_pose:
  61.  
  62. MOVE G6A,100, 76, 145, 93, 100, 100
  63. MOVE G6D,100, 76, 145, 93, 100, 100
  64. MOVE G6B,100, 30, 80, 100, 100, 100
  65. MOVE G6C,100, 30, 80, 100, 100, 100
  66. WAIT
  67.  
  68. RETURN
  69.  
  70.  
  71.  
  72.  
  73. Knopf2: 'linken Arm heben
  74. MOVE G6B, 108, 101, 102, , ,
  75. GOTO MAIN 'RETURN
  76.  
  77.  
  78.  
  79. Knopf3: 'linken Arm heben
  80. MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60,
  81. 'MOVE24 90, 107, 105, 105, 114, 60, 90, 40, 80, , , , 100, 40, 80, , , , 113, 76, 145, 93, 90, 60,
  82. MOVE G24, 86, 42, 105, 155, 110, , 90, 40, 80, , , , 100, 40, 80, , , , 113, 76, 145, 93, 90,
  83. RETURN
  84.  
  85.  
  86. testertserschritt6:
  87. MOVE G24, 104, 55, 155, 117, 99, , 100, 48, 81, , , , 100, 48, 81, , , , 104, 55, 155, 117, 99,
  88. MOVE G24, 102, 109, 68, 150, 98, , 90, 40, 80, , , , 100, 40, 80, , , , 105, 117, 159, 48, 92,
  89. MOVE G24, 117, 109, 68, 150, 97, , 88, 52, 111, , , , 95, 187, 166, , , , 105, 117, 159, 48, 92,
  90. MOVE G24, 117, 111, 68, 149, 117, , 96, 39, 95, , , , 88, 135, 140, , , , 119, 148, 39, 126, 95,
  91. MOVE G24, 117, 111, 68, 149, 117, , 96, 39, 95, , , , 88, 135, 140, , , , 119, 148, 73, 173, 91,
  92. MOVE G24, 117, 111, 68, 149, 89, , 96, 39, 95, , , , 88, 135, 140, , , , 119, 33, 142, 175, 104,
  93. MOVE G24, 117, 111, 68, 149, 89, , 96, 39, 96, , , , 89, 69, 105, , , , 119, 33, 142, 175, 104,
  94. MOVE G24, 115, 70, 127, 122, 90, , 96, 39, 96, , , , 89, 69, 105, , , , 119, 33, 142, 175, 104,
  95. 'MOVE G24, 115, 70, 127, 122, 90, , 96, 39, 96, , , , 89, 69, 105, , , , 94, 67, 120, 123, 108,
  96.  
  97. RETURN
  98.  
  99. testLage:
  100.  
  101. DELAY 100
  102.  
  103. IF VH < 135 THEN GOSUB tiltup
  104.  
  105.  
  106. MUSIC "FEDC"
  107.  
  108.  
  109. IF VH > 135 THEN GOSUB tiltdown
  110.  
  111.  
  112. RETURN
  113.  
  114.  
  115. tiltup:
  116. ''MUSIC "FEDC"
  117. MOVE G24, 103, 167, 23, 101 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 100 , 97,
  118. dis = 100
  119. DELAY 500
  120. VH = AD(2)
  121. IF VH > 135 THEN RETURN
  122. MOVE G24, 103, 167, 23, 111 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 110 , 97,
  123. dis = 110
  124. DELAY 500
  125. VH = AD(2)
  126. IF VH > 135 THEN RETURN
  127. MOVE G24, 103, 167, 23, 121 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 120 , 97,
  128. dis = 120
  129. DELAY 500
  130. VH = AD(2)
  131. IF VH > 135 THEN RETURN
  132. MOVE G24, 103, 167, 23, 131 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 130 , 97,
  133. dis = 130
  134. DELAY 500
  135. VH = AD(2)
  136. IF VH > 135 THEN RETURN
  137. MOVE G24, 103, 167, 23, 141 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 140 , 97,
  138. dis=140
  139. DELAY 500
  140. VH = AD(2)
  141. IF VH > 135 THEN RETURN
  142. MOVE G24, 103, 167, 23, 151 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 150 , 97,
  143. dis = 150
  144. DELAY 500
  145. VH = AD(2)
  146. IF VH > 135 THEN RETURN
  147. MOVE G24, 103, 167, 23, 161 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 160 , 97,
  148. dis = 160
  149. DELAY 500
  150. VH = AD(2)
  151. IF VH > 135 THEN RETURN
  152. MOVE G24, 103, 167, 23, 171 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 170 , 97,
  153. dis = 170
  154. DELAY 500
  155. VH = AD(2)
  156. IF VH > 135 THEN RETURN
  157. MOVE G24, 103, 167, 23, 181 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 180 , 97,
  158. dis = 180
  159.  
  160. RETURN
  161.  
  162. tiltdown:
  163. IF dis > 170 THEN MOVE G24, 103, 167, 23, 171 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 170 , 97,
  164. DELAY 500
  165. VH = AD(2)
  166. IF VH < 135 THEN RETURN
  167. IF dis > 160 THEN MOVE G24, 103, 167, 23, 161 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 160 , 97,
  168. DELAY 500
  169. VH = AD(2)
  170. IF VH < 135 THEN RETURN
  171. IF dis > 150 THEN MOVE G24, 103, 167, 23, 151 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 150 , 97,
  172. DELAY 500
  173. VH = AD(2)
  174. IF VH < 135 THEN RETURN
  175. IF dis > 140 THEN MOVE G24, 103, 167, 23, 141 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 140 , 97,
  176. DELAY 500
  177. VH = AD(2)
  178. IF VH < 135 THEN RETURN
  179. IF dis > 130 THEN MOVE G24, 103, 167, 23, 131 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 130 , 97,
  180. DELAY 500
  181. VH = AD(2)
  182. IF VH < 135 THEN RETURN
  183. IF dis > 120 THEN MOVE G24, 103, 167, 23, 121 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 120 , 97,
  184. DELAY 500
  185. VH = AD(2)
  186. IF VH < 135 THEN RETURN
  187. IF dis > 110 THEN MOVE G24, 103, 167, 23, 111 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 110 , 97,
  188. DELAY 500
  189. VH = AD(2)
  190. IF VH < 135 THEN RETURN
  191. IF dis > 100 THEN MOVE G24, 103, 167, 23, 101 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 100 , 97,
  192. DELAY 500
  193. VH = AD(2)
  194. IF VH < 135 THEN RETURN
  195. IF dis > 90 THEN MOVE G24, 103, 167, 23, 91 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 90 , 97,
  196.  
  197.  
  198.  
  199.  
  200. RETURN
  201.  
  202.  
  203.  
  204.  
  205. upstair5:
  206.  
  207. SPEED 3
  208. MOVE G24, 85, 75, 145, 93, 115, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  209.  
  210. SPEED 5
  211. MOVE G24, 82, 115, 65, 133, 118, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  212. MOVE G24, 90, 85, 75, 153, 110, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  213. MOVE G24, 90, 55, 105, 163, 110, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  214. MOVE G24, 100, 55, 145, 153, 105, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  215. MOVE G24, 100, 39, 145, 153, 105, , 100, 30, 80, , , , 100, 30, 80, , , , 110, 95, 125, 93, 90,
  216.  
  217. SPEED 4
  218. MOVE G24, 115, 123, 45, 148, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 110, 170, 20, 115,
  219. MOVE G24, 115, 123, 75, 128, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 70, 175, 40, 115,
  220.  
  221. DELAY 100
  222.  
  223. SPEED 5
  224. MOVE G24, 115, 75, 145, 113, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 110, 175, 20, 115,
  225. MOVE G24, 115, 75, 145, 113, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 110, 95, 135, 115,
  226. MOVE G24, 115, 75, 145, 103, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 98, 105, 135, 115,
  227.  
  228. MOVE G24, 115, 75, 145, 93, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 75, 145, 93, 115,
  229.  
  230. SPEED 2
  231.  
  232. MOVE G24, 100, 75, 145, 93, 100, , 100, 45, 70, , , , 100, 45, 70, , , , 100, 75, 145, 93, 100,
  233. MOVE G24, 100, 76, 145, 93, 100, , 100, 30, 80, , , , 100, 30, 80, , , , 100, 76, 145, 93, 100,
  234.  
  235. 'GOSUB standard_pose
  236.  
  237. MOVE G6A,100, 76, 145, 93, 100, 100
  238. MOVE G6D,100, 76, 145, 93, 100, 100
  239. MOVE G6B,100, 30, 80, 100, 100, 100
  240. MOVE G6C,100, 30, 80, 100, 100, 100
  241.  
  242. GOTO testLage
  243.  
  244. RETURN
  245.  
  246.  
  247.  
  248.  
  249. testWalk4:
  250. SPEED 3
  251. MOVE G24, 85, 75, 145, 93, 115, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  252.  
  253. SPEED 4
  254. MOVE G24, 82, 115, 65, 133, 118, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  255. MOVE G24, 90, 85, 75, 153, 110, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  256. MOVE G24, 90, 55, 105, 163, 110, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  257. MOVE G24, 100, 37, 145, 153, 105, , 100, 30, 80, , , , 100, 30, 80, , , , 115, 75, 145, 93, 85,
  258. MOVE G24, 100, 37, 145, 153, 105, , 100, 30, 80, , , , 100, 30, 80, , , , 110, 95, 125, 93, 90,
  259.  
  260. 'SPEED 4
  261. MOVE G24, 115, 135, 45, 148, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 110, 170, 20, 115,
  262. 'MOVE G24, 115, 135zhztu67, 75, 128, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 70, 175, 40, 115,
  263.  
  264.  
  265. 'SPEED 4
  266. 'MOVE G24, 115, 75, 145, 113, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 110, 175, 20, 115,
  267. 'MOVE G24, 115, 75, 145, 113, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 110, 95, 100, 115,
  268. 'MOVE G24, 115, 75, 145, 103, 85, , 100, 30, 80, , , , 100, 30, 80, , , , 85, 98, 105, 120, 115,
  269.  
  270.  
  271.  
  272.  
  273.  
  274.  
  275.  
  276. RETURN
  277.  
  278.  
  279.  
  280. ' GOTO MAIN 'RETURN
  281.  
  282.  
  283. tiltup2:
  284. ''MUSIC "FEDC"
  285. MOVE G24, 103, 167, 23, 101 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 100 , 97,
  286. dis = 100
  287. DELAY 500
  288. VH = AD(2)
  289. IF VH > 135 THEN RETURN
  290. MOVE G24, 103, 167, 23, 111 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 110 , 97,
  291. dis = 110
  292. DELAY 500
  293. VH = AD(2)
  294. IF VH > 135 THEN RETURN
  295. MOVE G24, 103, 167, 23, 121 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 120 , 97,
  296. dis = 120
  297. DELAY 500
  298. VH = AD(2)
  299. IF VH > 135 THEN RETURN
  300. MOVE G24, 103, 167, 23, 131 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 130 , 97,
  301. dis = 130
  302. DELAY 500
  303. VH = AD(2)
  304. IF VH > 135 THEN RETURN
  305. MOVE G24, 103, 167, 23, 141 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 140 , 97,
  306. dis=140
  307. DELAY 500
  308. VH = AD(2)
  309. IF VH > 135 THEN RETURN
  310. MOVE G24, 103, 167, 23, 151 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 150 , 97,
  311. dis = 150
  312. DELAY 500
  313. VH = AD(2)
  314. IF VH > 135 THEN RETURN
  315. MOVE G24, 103, 167, 23, 161 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 160 , 97,
  316. dis = 160
  317. DELAY 500
  318. VH = AD(2)
  319. IF VH > 135 THEN RETURN
  320. MOVE G24, 103, 167, 23, 171 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 170 , 97,
  321. dis = 170
  322. DELAY 500
  323. VH = AD(2)
  324. IF VH > 135 THEN RETURN
  325. MOVE G24, 103, 167, 23, 181 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 180 , 97,
  326. dis = 180
  327.  
  328. RETURN
  329.  
  330. tiltdown2:
  331. IF dis > 170 THEN MOVE G24, 103, 167, 23, 171 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 170 , 97,
  332. DELAY 500
  333. VH = AD(2)
  334. IF VH < 135 THEN RETURN
  335. IF dis > 160 THEN MOVE G24, 103, 167, 23, 161 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 160 , 97,
  336. DELAY 500
  337. VH = AD(2)
  338. IF VH < 135 THEN RETURN
  339. IF dis > 150 THEN MOVE G24, 103, 167, 23, 151 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 150 , 97,
  340. DELAY 500
  341. VH = AD(2)
  342. IF VH < 135 THEN RETURN
  343. IF dis > 140 THEN MOVE G24, 103, 167, 23, 141 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 140 , 97,
  344. DELAY 500
  345. VH = AD(2)
  346. IF VH < 135 THEN RETURN
  347. IF dis > 130 THEN MOVE G24, 103, 167, 23, 131 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 130 , 97,
  348. DELAY 500
  349. VH = AD(2)
  350. IF VH < 135 THEN RETURN
  351. IF dis > 120 THEN MOVE G24, 103, 167, 23, 121 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 120 , 97,
  352. DELAY 500
  353. VH = AD(2)
  354. IF VH < 135 THEN RETURN
  355. IF dis > 110 THEN MOVE G24, 103, 167, 23, 111 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 110 , 97,
  356. DELAY 500
  357. VH = AD(2)
  358. IF VH < 135 THEN RETURN
  359. IF dis > 100 THEN MOVE G24, 103, 167, 23, 101 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 100 , 97,
  360. DELAY 500
  361. VH = AD(2)
  362. IF VH < 135 THEN RETURN
  363. IF dis > 90 THEN MOVE G24, 103, 167, 23, 91 , 97, , 103, 23, 89, , , , 105, 26, 87, , , , 99, 165, 21, 90 , 97,
  364.  
  365.  
  366.  
  367.  
  368. RETURN
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