'****************************************
'***** 메탈파이터 기초 프로그램 *******
'****************************************
'******* 변수선언 ***********************
DIM A AS BYTE
DIM A_OLD AS BYTE
'*******모터방향설정*********************
DIR G6A,1,0,0,1,0,0 '왼쪽다리:모터0~5번
DIR G6D,0,1,1,0,1,0 '오른쪽다리:모터18~23번
DIR G6B,1,1,1,1,1,1 '왼쪽팔:모터6~11번
DIR G6C,0,0,0,0,0,0 '오른쪽팔:모터12~17번
'*******모터동시제어설정****************
PTP SETON '단위그룹별 점대점동작 설정
PTP ALLON '전체모터 점대점 동작 설정
'*******모터위치값피드백****************
GOSUB MOTOR_GET
'*******모터사용설정********************
GOSUB MOTOR_ON
'*******피에조소리내기******************
TEMPO 220
MUSIC "O23EAB7EA>3#C"
'***** 초기자세로 **********************
SPEED 5
GOSUB 기본자세
GOSUB MOTOR_ON
GOSUB SOUND_VOLUME_30
'***** 메인 반복루틴 **************
MAIN:
ERX 4800,A,MAIN
A_OLD = A
IF A = 1 THEN
GOSUB SOUND_가위
ELSEIF A = 2 THEN
GOSUB SOUND_바위
ELSEIF A = 3 THEN
GOSUB SOUND_보
ELSEIF A = 4 THEN
GOSUB SOUND_BGM1
ELSEIF A = 5 THEN
GOSUB SOUND_BGM2
ELSEIF A = 6 THEN
GOSUB SOUND_BGM7
ELSEIF A = 7 THEN
GOSUB SOUND_BGM10
ELSEIF A = 8 THEN
GOSUB SOUND_로보링크주제곡
ELSEIF A = 9 THEN
GOSUB SOUND_국민체조곡
ELSEIF A = 10 THEN
GOSUB SOUND_안녕하세요미니로봇에서개발된메탈파이터입니다
ELSEIF A = 21 THEN ' △버튼: 소리 켜기
GOSUB SOUND_ALL_ON_MSG
ELSEIF A = 31 THEN ' ▽버튼: 소리 끄기
GOSUB SOUND_ALL_OFF_MSG
ELSEIF A = 30 THEN ' ▷버튼: 볼륨업
GOSUB SOUND_UP
GOSUB 비프음
ELSEIF A = 28 THEN ' ◁버튼: 볼륨다운
GOSUB SOUND_DOWN
GOSUB 비프음
ELSEIF A = 26 THEN ' ■버튼:소리멈춤
GOSUB SOUND_STOP
ELSE
GOSUB 비프음
ENDIF
GOTO MAIN
'***************************************
MOTOR_ON: '전포트서보모터사용설정
MOTOR G24
RETURN
'***********************************
MOTOR_OFF: '전포트서보모터설정해제
MOTOROFF G6B
MOTOROFF G6C
MOTOROFF G6A
MOTOROFF G6D
RETURN
'***********************************
MOTOR_GET: '위치값피드백
GETMOTORSET G6A,1,1,1,1,1,0
GETMOTORSET G6B,1,1,1,0,0,1
GETMOTORSET G6C,1,1,1,0,0,0
GETMOTORSET G6D,1,1,1,1,1,0
RETURN
'*******기본자세관련*****************
기본자세:
MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
MOVE G6B,100, 30, 80, 100, 100, 100
MOVE G6C,100, 30, 80, 100, 100, 100
WAIT
RETURN
'*************************************
'******* 사운드모듈관련 **************
'*************************************
비프음:
TEMPO 230
MUSIC "A"
RETURN
'************************************************
SOUND_국민체조곡: '
PRINT "SOUND 47!"
RETURN
SOUND_로보링크주제곡: '
PRINT "SOUND 46!"
RETURN
SOUND_안녕하세요: '
PRINT "SOUND 12!"
RETURN
SOUND_안녕하세요미니로봇에서개발된메탈파이터입니다: '
PRINT "SOUND 0!"
RETURN
'************************************************
'************************************************
SOUND_댄스모드:
PRINT "SOUND 1!"
RETURN
SOUND_격투모드:
PRINT "SOUND 2!"
RETURN
SOUND_게임모드:
PRINT "SOUND 3!"
RETURN
SOUND_축구모드:
PRINT "SOUND 4!"
RETURN
SOUND_장애물경주모드:
PRINT "SOUND 5!"
RETURN
SOUND_홍보모드:
PRINT "SOUND 6!"
RETURN
SOUND_카메라모드:
PRINT "SOUND 7!"
RETURN
SOUND_청기올려:
PRINT "SOUND 26!"
RETURN
SOUND_청기내려:
PRINT "SOUND 27!"
RETURN
SOUND_백기올려:
PRINT "SOUND 28!"
RETURN
SOUND_백기내려:
PRINT "SOUND 29!"
RETURN
SOUND_BGM1:
PRINT "AUTO 31!"
RETURN
SOUND_BGM2:
PRINT "AUTO 32!"
RETURN
SOUND_BGM3:
PRINT "AUTO 33!"
RETURN
SOUND_BGM4:
PRINT "AUTO 34!"
RETURN
SOUND_BGM5:
PRINT "AUTO 35!"
RETURN
SOUND_BGM6:
PRINT "AUTO 36!"
RETURN
SOUND_BGM7:
PRINT "AUTO 37!"
RETURN
SOUND_BGM8:
PRINT "AUTO 38!"
RETURN
SOUND_BGM9:
PRINT "AUTO 39!"
RETURN
SOUND_BGM10:
PRINT "AUTO 40!"
RETURN
SOUND_BGM11:
PRINT "AUTO 41!"
RETURN
SOUND_BGM12:
PRINT "AUTO 42!"
RETURN
SOUND_ALL_OFF_MSG:
PRINT "SOUND 20!"
DELAY 1500
GOSUB SOUND_VOLUME_0
RETURN
SOUND_ALL_ON_MSG:
GOSUB SOUND_VOLUME_30
PRINT "SOUND 21!"
RETURN
SOUND_ON_OK_MSG:
PRINT "SOUND 22!"
RETURN
SOUND_가위:
PRINT "SOUND 23!"
RETURN
SOUND_바위:
PRINT "SOUND 24 !"
RETURN
SOUND_보:
PRINT "SOUND 25 !"
RETURN
SOUND_Walk_Move:
PRINT "SOUND 45 !"
RETURN
SOUND_Walk_Ready:
PRINT "PLAYNUM 43 !"
RETURN
SOUND_walk:
PRINT "SOUND 43 !"
RETURN
SOUND_REPLAY:
PRINT "!"
RETURN
SOUND_VOLUME_50:
PRINT "VOLUME 50 !"
RETURN
SOUND_VOLUME_40:
PRINT "VOLUME 40 !"
RETURN
SOUND_VOLUME_30:
PRINT "VOLUME 30 !"
RETURN
SOUND_VOLUME_20:
PRINT "VOLUME 20 !"
RETURN
SOUND_VOLUME_10:
PRINT "VOLUME 10 !"
RETURN
SOUND_VOLUME_0:
PRINT "VOLUME 0 !"
RETURN
SOUND_STOP:
PRINT "STOP !"
RETURN
SOUND_UP:
PRINT "UP 5 !"
RETURN
SOUND_DOWN:
PRINT "DOWN 5 !"
RETURN