The following basic actions can be defined in the
graphical programming interface.
v
Duration – execution time of the action
v
Key Action – pre-defined special actions
v
WheelLeft – Rotational speed of the left
wheel
v
WheelRight – Rotational speed of the right
wheel
v LED_1 – LED
status
Fig. 8-24
shows the basic action panel.
Fig. 8-24:
Actions
Duration
Duration is used to specify the time that the action is
executed continually. Within this period, the robot’s action will not be
interrupted by other statement, except the Super action. The unit of duration
is ms. The minimum duration is 60ms.
Define robot
moving direction
The direction
and speed of the two wheels can be controlled independently. Each wheel can be
set to a value between -5 and +5, where +5 is maximum forward speed, -5 is
maximum reverse speed and 0 is stop.
|
Movement |
Left Wheel |
Right Wheel |
|
Robot moves forward |
Positive Value, e.g. “+1” |
Positive Value |
|
Robot turns right |
Positive Value |
Negative Value, e.g. “- 1” |
|
Robot turns left |
Negative Value |
Positive Value |
|
Robot moves backwards |
Negative Value |
Negative Value |
Define robot
moving speed
|
Speed Setting |
Motor Speed |
|
0 |
Stop |
|
1 |
20% of its full speed |
|
2 |
40% of its full speed |
|
3 |
60% of its full speed |
|
4 |
80% of its full speed |
|
5 |
full speed |
Set LED
display
The LEDs can be set by setting the LED value to different
values:
|
LED Setting |
What it means… |
|
0 |
LED – off |
|
1 |
LED – blinks |
|
2 |
LED – steady display |
Key Action
For certain
tasks, a key action must be specified from the drop down menu:
Fig. 8-25:
Add a new state
|
Key Action |
What it means… |
|
FindObject |
The action is needed when an object is found. When the “FindObject” key action is executed,
the internal variable associated with the “LoadedObjects”, the loaded objects
counter, will be added by 1. The robot
will move forward at wheel speed of “+2” for
6x64ms at the end of the action. |
|
Deposit |
The action is needed when a robot deposits the
objects. When the “Deposit” key action is
executed, “LoadedObjects” will be reset to 0. This helps to clear the loaded
object counter. The robot can continue to pick up objects after deposit. |
|
Teleport1 |
The action is needed when teleporting. When the “Teleport1” key action is executed,
the WORLD_2 will be used. The robot will be sent to the 1st
teleporting location. The loaded object counter, LoadObjects, will be set to
0. The robot will be set stationary. LED will be off. “Teleport2” or “Teleport3” means the robot
will be teleported to the 2nd or 3rd teleporting
location.
|
|
GameEnd |
Not in use. |
More examples:
Action |
How to program… |
|
Robot moves forward with 40% of the full speed for 60 ms |
|
|
Robot moves forward with 40% of the full
speed for 120 ms while LED is flashing. |
|
|
Robot moves forward with 40% of the full
speed for 120 ms. At mean time. The internal variable “Alpha” is set to 5. |
Use
advanced action.
|
