Tutorial Guide

57
Lesson 6 Advanced Course
The “Tutorial6a.be” file is stored in
the “Sample\model name” folder
(see page 12).
Checking the current program
In this lesson, you’ll edit the “Tutorial6a.be” file, so make a copy of the
file and open it with Behavior Arranger.
In your program, the commands will be executed sequentially (not
simultaneously).
As shown above, the program is designed not to execute the next
command until the previous command has been completed.
IF Distance < 300 BACK
If there is an obstacle within
300 mm, the program jumps
to the Back box.
ELSE GO_AHEAD
In all other cases, the
program returns to the
GO_AHEAD box.
Makes AIBO stand up.
PLAY ACTION WALK 0 100
WAIT
Commands AIBO to walk for 100
mm. The “WAIT” command is
included to prevent the next
command from being executed
until AIBO finishes walking 100
mm.
PLAY ACTION WALK 180 200
WAIT
(If there is an obstacle nearby)
AIBO walks backwards for
200 mm.
The WAIT command is inserted in
this box also to prevent the next
command from being executed
until AIBO finishes walking
backwards for 200 mm.