The function WalkExecute was written by Robotis along with the associated motion file. The operation is rather simple. You set the variable WalkCommand to one of 16 possible moves then call the function WalkExecute to start the motion. You use WalkCommand=0 to stop by way of the exit page and you use WalkCommand=-1 to stop immediately.
The Autonomous Walk loop is also quite simple. All the action happens within the Endless Loop following the label AutoWalkMode. Within the loop the DMS sensor is read and if the reading is greater than 200 the variable WalkCommand is set to 3 which causes the robot to turn to the left when the the line Call WalkExecute runs. Otherwise the WalkCommand variable is set to 1 and the robot moves continuously forward.
To add an IR sensor into the loop you need to add code that reads the appropriate AD Port and then set WalkCommand to the desired command number when the reading is too high. Something like the code you see for the DMS sensor on Port 5 but using an IR sensor at whatever port number you've attached the sensor to.
With U button start the Stability programm
Maybe you can explain what you mean by the Stability program.
I don't know how to send the Task Programm
You can imbed an image in your posting using the tag buttons above the typing window. First you need to create a graphics file of your image and store it on the Web, say in your files area. To include the graphic in a posting you select Img button to insert the appropriate starting mark into the posting. Next you insert the URL for the graphics file. Finally you select the *Img button to insert the necessary ending tag. The idea is to enclose the image between a starting and an ending tag of the Img type.
There's a line of text above the typing window that changes when you roll your mouse over the various tag buttons. This line shows you what the markup should look like when you are done.
Also notice that once you insert the starting tag, the button that you used will change to the appropriate ending code (same name but with an *). So, you will use the same button for both the starting and the ending tag of any particular type; Quote, Img, URL etc.Statistics: Posted by Fritzoid — Mon Oct 18, 2010 1:19 pm
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