AMS:BA:1.0
F10000:"Main":176:176:768:558:0:0:756:452:208:
S10001:"START":60:10:80:20:10067,99999999,99999999,99999999:0:
A10002:"startUP":60:60:100:60:10061,99999999,99999999,99999999:0:
>PLAY:ACTION:LIE:::::0:
>WAIT:::::::0:
A10003:"WakeUPsong":130:450:100:60:10004,99999999,99999999,99999999:0:
>PLAY:ACTION:DANCE1:::::0:
>WAIT:::::::0:
>PLAY:ACTION:LIE:::::0:
>WAIT:::::::0:
>WAIT:1000::::::0:
A10004:"Clear_Input":260:80:100:60:10056,99999999,99999999,99999999:0:"clear all input sensers"
>SET::Head_Pat:0::::0:
>SET::Head_Hit:0::::0:
>SET::Head_ON:0::::0:
>SET::Head_LONG:0::::0:
>SET::Back_ON:0::::0:
>SET::Back_LONG:0::::0:
>SET::Jaw_ON:0::::0:
>SET::Jaw_LONG:0::::0:
>SET::RFLeg_ON:0::::0:
>SET::LFLeg_ON:0::::0:
>SET::RRLeg_ON:0::::0:
>SET::LRLeg_ON:0::::0:
>SET::idle_count:0::::0:
>SET::Status:0::::0:
A10005:"ex1":60:640:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_EXERCISE6:::::0:
>WAIT:::::::0:
A10006:"ex2":180:640:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_EXERCISE5:::::0:
>WAIT:::::::0:
A10007:"ex3":290:640:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_EXERCISE4:::::0:
>WAIT:::::::0:
A10008:"ex4":400:650:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_EXERCISE3:::::0:
>WAIT:::::::0:
B10009:"Recover":640:660:100:60:0:0:
>IF:0:＝:0:Bakerari:::10048,99999999,99999999,99999999:
G10010:"SayHI":410:180:100:60:0:30000:
>RETURN::::Head_Hit?:::10011,99999999,99999999,99999999:
B10011:"Head_Hit?":290:390:100:60:0:0:
>IF:Head_Hit:＞:0:PickHit:::10012,99999999,99999999,99999999:
>ELSE::::Head_ON?:::10017,99999999,99999999,99999999:
G10012:"PickHit":280:510:100:60:0:40000:
>rand1::::yuutu1:::10013,99999999,99999999,99999999:
>rand2::::yuutu2:::10014,99999999,99999999,99999999:
>rand3::::yuutu3:::10015,99999999,99999999,99999999:
>rand4::::yuutu4:::10016,99999999,99999999,99999999:
A10013:"yuutu1":80:740:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:YUUTOU1:::::0:
>WAIT:::::::0:
A10014:"yuutu2":210:740:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:DANCE2:::::0:
>WAIT:::::::0:
A10015:"yuutu3":330:740:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:YUUTOU3:::::0:
>WAIT:::::::0:
A10016:"yuutu4":450:750:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:FURYOU:::::0:
>WAIT:::::::0:
B10017:"Head_ON?":450:260:100:60:0:0:
>IF:Head_ON:＝:1:PickPat:::10018,99999999,99999999,99999999:
>ELSE::::Obstacle?:::10025,99999999,99999999,99999999:
G10018:"PickPat":540:340:100:60:0:50000:
>rand1::::dan1:::10019,99999999,99999999,99999999:
>rand2::::dan2:::10020,99999999,99999999,99999999:
>rand3::::dan3:::10021,99999999,99999999,99999999:
>rand4::::dan4:::10022,99999999,99999999,99999999:
>rand5::::dan5:::10023,99999999,99999999,99999999:
>rand6::::dan6:::10024,99999999,99999999,99999999:
A10019:"dan1":420:430:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:DANCE4:::::0:
>WAIT:::::::0:
A10020:"dan2":540:430:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:DANCE5:::::0:
>WAIT:::::::0:
A10021:"dan3":650:430:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:DANCE6:::::0:
>WAIT:::::::0:
A10022:"dan4":760:430:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:DANCE7:::::0:
>WAIT:::::::0:
A10023:"dan5":870:430:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:DANCE8:::::0:
>WAIT:::::::0:
A10024:"dan6":980:430:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:DANCE9:::::0:
>WAIT:::::::0:
B10025:"Obstacle?":570:170:100:60:0:0:
>IF:Distance:＜:200:PickLook:::10026,99999999,99999999,99999999:
>ELSE::::BatteryCheck:::10030,99999999,99999999,99999999:
G10026:"PickLook":640:250:100:60:0:60000:
>rand1::::bark1:::10027,99999999,99999999,99999999:
>rand2::::bark2:::10028,99999999,99999999,99999999:
>rand3::::bark3:::10029,99999999,99999999,99999999:
A10027:"bark1":680:330:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_BARK1:::::0:
>WAIT:::::::0:
A10028:"bark2":800:330:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_BARK2:::::0:
>WAIT:::::::0:
A10029:"bark3":910:330:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_BARK3:::::0:
>WAIT:::::::0:
B10030:"BatteryCheck":720:90:100:60:0:0:
>IF:Batt_Rest:＜:20:PowerDown:::10031,99999999,99999999,99999999:
>ELSE::::Back_ON?:::10033,99999999,99999999,99999999:
A10031:"PowerDown":750:190:100:60:10032,99999999,99999999,99999999:0:
>PLAY:ACTION:HUNGRY:::::0:
>WAIT:::::::0:
>PLAY:ACTION:CHGPOS.STATR.NORMAL:::::0:
>WAIT:::::::0:
>PLAY:ACTION:SMESS.NOTICE.NOTICE1:::::0:
>WAIT:::::::0:
>STOP:::::::0:
T10032:"Done":750:290:80:20:0:0:
B10033:"Back_ON?":850:80:100:60:0:0:
>IF:Back_ON:＝:1:BackMode:::10034,99999999,99999999,99999999:
>ELSE::::Idle_Timeout?:::10039,99999999,99999999,99999999:
G10034:"BackMode":880:160:100:60:0:20000:
>rand1::::UserA1:::10035,99999999,99999999,99999999:
>rand2::::UserA2:::10036,99999999,99999999,99999999:
>rand3::::UserA3:::10037,99999999,99999999,99999999:
>rand4::::UserA4:::10038,99999999,99999999,99999999:
A10035:"UserA1":850:240:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:KISS1:::::0:
>WAIT:::::::0:
A10036:"UserA2":960:240:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:KISS2:::::0:
>WAIT:::::::0:
A10037:"UserA3":1040:320:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:OH_MY_GOD1:::::0:
>WAIT:::::::0:
A10038:"UserA4":1120:240:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_BANZAI1:::::0:
>WAIT:::::::0:
B10039:"Idle_Timeout?":1060:80:100:60:0:0:"'wait a second or before idling'"
>IF:idle_count:＞:15:IdleMode:::10040,99999999,99999999,99999999:
>ELSE::::Wait_100ms:::10045,99999999,99999999,99999999:
G10040:"IdleMode":1090:150:100:60:0:70000:
>rand1::::walz:::10041,99999999,99999999,99999999:
>rand2::::rock:::10042,99999999,99999999,99999999:
>rand3::::trans:::10043,99999999,99999999,99999999:
>rand4::::tango:::10044,99999999,99999999,99999999:
>rand5::::歩く(1):::10046,99999999,99999999,99999999:
A10041:"walz":1110:410:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION+:waltz:::::0:
>WAIT:::::::0:
A10042:"rock":1190:340:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION+:rock:::::0:
>WAIT:::::::0:
A10043:"trans":1310:270:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION+:trans:::::0:
>WAIT:::::::0:
A10044:"tango":1410:350:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION+:tango:::::0:
>WAIT:::::::0:
A10045:"Wait_100ms":1290:70:100:60:10046,99999999,99999999,99999999:0:
>WAIT:100::::::0:
>ADD::idle_count:1::::0:
G10046:"歩く(1)":1530:100:100:60:0:80000:
>RETURN::::Randum5:::10068,99999999,99999999,99999999:
G10047:"Pick1of2":130:350:100:60:0:110000:
>rand1::::EX:::10059,99999999,99999999,99999999:
>rand2::::WakeUPsong:::10003,99999999,99999999,99999999:
G10048:"Bakerari":650:750:100:60:0:70000:
>rand1::::UserA5:::10049,99999999,99999999,99999999:
>rand2::::UserA6:::10050,99999999,99999999,99999999:
>rand3::::UserA7:::10051,99999999,99999999,99999999:
>rand4::::UserA8:::10052,99999999,99999999,99999999:
>rand5::::UserA9:::10053,99999999,99999999,99999999:
A10049:"UserA5":480:840:100:60:10054,99999999,99999999,99999999:0:
>PLAY:ACTION:TEMPER_TANTRUM3:::::0:
>WAIT:::::::0:
A10050:"UserA6":610:840:100:60:10054,99999999,99999999,99999999:0:
>PLAY:ACTION:KARATE1:::::0:
>WAIT:::::::0:
A10051:"UserA7":740:840:100:60:10054,99999999,99999999,99999999:0:
>PLAY:ACTION:KARATE2:::::0:
>WAIT:::::::0:
A10052:"UserA8":850:840:100:60:10054,99999999,99999999,99999999:0:
>PLAY:ACTION:KARATE3:::::0:
>WAIT:::::::0:
A10053:"UserA9":980:850:100:60:10054,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_BYE2:::::0:
>WAIT:::::::0:
G10054:"旋回？":640:940:100:60:0:200000:
>RETURN::::サッカー:::10055,99999999,99999999,99999999:
G10055:"サッカー":640:1040:100:60:0:120000:
>RETURN::::Dasshutu0(1):::10060,99999999,99999999,99999999:
G10056:"Pick1og2":410:100:100:60:0:110000:
>rand1::::BatteryCheck2:::10066,99999999,99999999,99999999:
>rand2::::SayHI:::10010,99999999,99999999,99999999:
A10057:"ex5":510:660:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_EXERCISE2:::::0:
>WAIT:::::::0:
A10058:"ex6":630:540:100:60:10009,99999999,99999999,99999999:0:
>PLAY:ACTION:CUTE_EXERCISE1:::::0:
>WAIT:::::::0:
G10059:"EX":80:530:100:60:0:50000:
>rand1::::ex1:::10005,99999999,99999999,99999999:
>rand2::::ex2:::10006,99999999,99999999,99999999:
>rand3::::ex3:::10007,99999999,99999999,99999999:
>rand4::::ex4:::10008,99999999,99999999,99999999:
>rand5::::ex5:::10057,99999999,99999999,99999999:
>rand6::::ex6:::10058,99999999,99999999,99999999:
G10060:"Dasshutu0(1)":640:1140:100:60:0:240000:
>RETURN::::Clear_Input:::10004,99999999,99999999,99999999:
G10061:"時間":110:130:100:60:0:280000:
>Lough::::Lough:::10063,99999999,99999999,99999999:
>Come::::Come:::10064,99999999,99999999,99999999:
>Win::::Win:::10065,99999999,99999999,99999999:
>Yawn::::Yawn:::10062,99999999,99999999,99999999:
A10062:"Yawn":230:280:100:60:10047,99999999,99999999,99999999:0:
>PLAY:ACTION+:yawn_01:::::0:
>WAIT:::::::0:
A10063:"Lough":60:200:100:60:10047,99999999,99999999,99999999:0:
>PLAY:ACTION+:laugh_03:::::0:
>WAIT:::::::0:
A10064:"Come":100:280:100:60:10047,99999999,99999999,99999999:0:
>PLAY:ACTION+:come01:::::0:
>WAIT:::::::0:
A10065:"Win":170:210:100:60:10047,99999999,99999999,99999999:0:
>PLAY:ACTION+:win01:::::0:
>WAIT:::::::0:
B10066:"BatteryCheck2":300:180:100:60:0:0:
>IF:Batt_Rest:＜:20:PowerDown:::10031,99999999,99999999,99999999:
>ELSE::::EX:::10059,99999999,99999999,99999999:
G10067:"GetUp_If_Fallen":520:10:100:60:0:290000:
>RETURN::::startUP:::10002,99999999,99999999,99999999:
G10068:"秒":1520:260:100:60:0:310000:
>sec1:::::::10012,99999999,99999999,99999999:
>sec2:::::::10018,99999999,99999999,99999999:
>sec3:::::::10026,99999999,99999999,99999999:
>sec4:::::::10034,99999999,99999999,99999999:
>sec5:::::::10040,99999999,99999999,99999999:
>sec6:::::::10009,99999999,99999999,99999999:
F20000:"4":103:303:768:558:0:0:756:452:208:
S20001:"ENTRY":200:50:80:20:20002,99999999,99999999,99999999:0:
A20002:"1-4":200:110:100:60:20007,99999999,99999999,99999999:0:
>RND::randval:1:4:::0:
T20003:"rand1":90:360:80:20:0:0:
T20004:"rand2":210:360:80:20:0:0:
T20005:"rand3":330:360:80:20:0:0:
T20006:"rand4":450:360:80:20:0:0:
B20007:"pick1_4":200:180:100:60:0:0:
>IF:randval:＝:1:rand1:::20003,99999999,99999999,99999999:
>IF:randval:＝:2:rand2:::20004,99999999,99999999,99999999:
>IF:randval:＝:3:rand3:::20005,99999999,99999999,99999999:
>ELSE::::rand4:::20006,99999999,99999999,99999999:
F30000:"SayHI":176:176:768:558:0:0:756:452:208:
S30001:"ENTRY":200:50:80:20:30003,99999999,99999999,99999999:0:
T30002:"RETURN":200:290:80:20:0:0:
G30003:"1of4":200:100:100:60:0:20000:
>rand1::::HI1:::30004,99999999,99999999,99999999:
>rand2::::HI2:::30005,99999999,99999999,99999999:
>rand3::::HI3:::30006,99999999,99999999,99999999:
>rand4::::HI4:::30007,99999999,99999999,99999999:
A30004:"HI1":100:190:100:60:30002,99999999,99999999,99999999:0:
>PLAY:ACTION:POSE1:::::0:
>WAIT:::::::0:
A30005:"HI2":220:190:100:60:30002,99999999,99999999,99999999:0:
>PLAY:ACTION:POSE2:::::0:
>WAIT:::::::0:
A30006:"HI3":340:190:100:60:30002,99999999,99999999,99999999:0:
>PLAY:ACTION:POSE3:::::0:
>WAIT:::::::0:
A30007:"HI4":470:190:100:60:30002,99999999,99999999,99999999:0:
>PLAY:ACTION:POSE4:::::0:
>WAIT:::::::0:
F40000:"HIT":88:88:768:558:0:0:756:460:208:
S40001:"ENTRY":200:50:80:20:40002,99999999,99999999,99999999:0:
A40002:"rand1_4":200:90:100:60:40003,99999999,99999999,99999999:0:
>RND::randval:1:4:::0:
B40003:"Pick1_4":190:180:100:60:0:0:
>IF:randval:＝:1:rand1:::40004,99999999,99999999,99999999:
>IF:randval:＝:2:rand2:::40005,99999999,99999999,99999999:
>IF:randval:＝:3:rand3:::40006,99999999,99999999,99999999:
>ELSE::::rand4:::40007,99999999,99999999,99999999:
T40004:"rand1":70:340:80:20:0:0:
T40005:"rand2":200:340:80:20:0:0:
T40006:"rand3":300:340:80:20:0:0:
T40007:"rand4":420:340:80:20:0:0:
F50000:"6":110:110:768:558:0:0:756:510:208:
S50001:"ENTRY":200:50:80:20:50002,99999999,99999999,99999999:0:
A50002:"Rand6":200:120:100:60:50009,99999999,99999999,99999999:0:
>RND::randval:1:6:::0:
T50003:"rand1":70:360:80:20:0:0:
T50004:"rand2":170:360:80:20:0:0:
T50005:"rand3":270:360:80:20:0:0:
T50006:"rand4":370:360:80:20:0:0:
T50007:"rand5":470:360:80:20:0:0:
T50008:"rand6":580:360:80:20:0:0:
B50009:"Pick1of6":200:210:100:60:0:0:
>IF:randval:＝:1:rand1:::50003,99999999,99999999,99999999:
>IF:randval:＝:2:rand2:::50004,99999999,99999999,99999999:
>IF:randval:＝:3:rand3:::50005,99999999,99999999,99999999:
>IF:randval:＝:4:rand4:::50006,99999999,99999999,99999999:
>IF:randval:＝:5:rand5:::50007,99999999,99999999,99999999:
>ELSE::::rand6:::50008,99999999,99999999,99999999:
F60000:"3":0:0:768:558:0:0:756:490:208:
S60001:"ENTRY":200:50:80:20:60002,99999999,99999999,99999999:0:
A60002:"Rand3":210:100:100:60:60006,99999999,99999999,99999999:0:
>RND::randval:1:3:::0:
T60003:"rand1":90:370:80:20:0:0:
T60004:"rand2":210:370:80:20:0:0:
T60005:"rand3":350:360:80:20:0:0:
B60006:"Pick1of3":210:220:100:60:0:0:
>IF:randval:＝:1:rand1:::60003,99999999,99999999,99999999:
>IF:randval:＝:2:rand2:::60004,99999999,99999999,99999999:
>ELSE::::rand3:::60005,99999999,99999999,99999999:
F70000:"5":0:0:768:558:0:0:756:510:208:
S70001:"ENTRY":200:50:80:20:70002,99999999,99999999,99999999:0:
A70002:"Rand5":200:100:100:60:70003,99999999,99999999,99999999:0:
>RND::randval:1:5:::0:
B70003:"Pick1of5":200:180:100:60:0:0:
>IF:randval:＝:1:rand1:::70004,99999999,99999999,99999999:
>IF:randval:＝:2:rand2:::70005,99999999,99999999,99999999:
>IF:randval:＝:3:rand3:::70006,99999999,99999999,99999999:
>IF:randval:＝:4:rand4:::70007,99999999,99999999,99999999:
>ELSE::::rand5:::70008,99999999,99999999,99999999:
T70004:"rand1":70:310:80:20:0:0:
T70005:"rand2":170:310:80:20:0:0:
T70006:"rand3":280:310:80:20:0:0:
T70007:"rand4":380:310:80:20:0:0:
T70008:"rand5":470:310:80:20:0:0:
F80000:"歩く:Main":176:176:768:558:0:0:756:452:208:
S80001:"ENTRY":200:50:80:20:80002,99999999,99999999,99999999:0:
G80002:"Pick1of3":200:110:100:60:0:90000:
>rand1::::Pick1of4a:::80003,99999999,99999999,99999999:
>rand2::::Pick1of4b:::80004,99999999,99999999,99999999:
>rand3::::Pick1of4c:::80005,99999999,99999999,99999999:
G80003:"Pick1of4a":130:230:100:60:0:100000:
>rand1::::MoveSlowfwd:::80006,99999999,99999999,99999999:
>rand2::::MoveSlowFwd1:::80007,99999999,99999999,99999999:
>rand3::::MoveSlowFwd2:::80008,99999999,99999999,99999999:
>rand4::::MoveSlowBwd:::80009,99999999,99999999,99999999:
G80004:"Pick1of4b":470:440:100:60:0:100000:
>rand1::::WalkFwd:::80014,99999999,99999999,99999999:
>rand2::::WalkFwd2:::80015,99999999,99999999,99999999:
>rand3::::WalkFwd3:::80016,99999999,99999999,99999999:
>rand4::::WalkBwd:::80017,99999999,99999999,99999999:
G80005:"Pick1of4c":550:220:100:60:0:100000:
>rand1::::MoveNormFwd:::80010,99999999,99999999,99999999:
>rand2::::MoveNormFwd2:::80011,99999999,99999999,99999999:
>rand3::::MoveNormFwd3:::80012,99999999,99999999,99999999:
>rand4::::MoveNormBwd:::80013,99999999,99999999,99999999:
A80006:"MoveSlowfwd":70:340:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.SLOW:0:300:::0:
>WAIT:::::::0:
A80007:"MoveSlowFwd1":180:340:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.SLOW:30:300:::0:
>WAIT:::::::0:
A80008:"MoveSlowFwd2":290:340:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.SLOW:-30:300:::0:
>WAIT:::::::0:
A80009:"MoveSlowBwd":400:340:100:60:80021,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.SLOW:180:300:::0:
>WAIT:::::::0:
A80010:"MoveNormFwd":550:330:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.NORMAL:0:300:::0:
>WAIT:::::::0:
A80011:"MoveNormFwd2":670:330:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.NORMAL:30:300:::0:
>WAIT:::::::0:
A80012:"MoveNormFwd3":780:330:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.NORMAL:-30:300:::0:
>WAIT:::::::0:
A80013:"MoveNormBwd":930:340:100:60:80021,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.NORMAL:180:300:::0:
>WAIT:::::::0:
A80014:"WalkFwd":250:540:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:WALK:0:300:::0:
>WAIT:::::::0:
A80015:"WalkFwd2":370:540:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:WALK:30:300:::0:
>WAIT:::::::0:
A80016:"WalkFwd3":490:540:100:60:80018,99999999,99999999,99999999:0:
>PLAY:ACTION:WALK:-30:300:::0:
>WAIT:::::::0:
A80017:"WalkBwd":610:540:100:60:80021,99999999,99999999,99999999:0:
>PLAY:ACTION:WALK:180:300:::0:
>WAIT:::::::0:
G80018:"After1of3":80:640:100:60:0:90000:
>rand1::::AIBOZYA:::80019,99999999,99999999,99999999:
>rand2::::GOTOHELL:::80020,99999999,99999999,99999999:
>rand3::::RETURN:::80021,99999999,99999999,99999999:
A80019:"AIBOZYA":90:750:100:60:80021,99999999,99999999,99999999:0:
>PLAY:ACTION:AIBOZYA:::::0:
>WAIT:::::::0:
A80020:"GOTOHELL":200:750:100:60:80021,99999999,99999999,99999999:0:
>PLAY:ACTION:GOTOHELL1:::::0:
>WAIT:::::::0:
T80021:"RETURN":930:890:80:20:0:0:
F90000:"歩く:3":0:0:768:558:0:0:756:480:208:
S90001:"ENTRY":200:50:80:20:90002,99999999,99999999,99999999:0:
A90002:"Rand3":200:90:100:60:90003,99999999,99999999,99999999:0:
>RND::randval:1:3:::0:
B90003:"Pick1of3":200:190:100:60:0:0:
>IF:randval:＝:1:rand1:::90004,99999999,99999999,99999999:
>IF:randval:＝:2:rand2:::90005,99999999,99999999,99999999:
>ELSE::::rand3:::90006,99999999,99999999,99999999:
T90004:"rand1":90:330:80:20:0:0:
T90005:"rand2":220:330:80:20:0:0:
T90006:"rand3":330:330:80:20:0:0:
F100000:"歩く:4":84:115:768:558:0:0:756:520:208:
S100001:"ENTRY":200:50:80:20:100002,99999999,99999999,99999999:0:
A100002:"Rand4":200:100:100:60:100003,99999999,99999999,99999999:0:
>RND::randval:1:4:::0:
B100003:"Pick1of4":200:190:100:60:0:0:
>IF:randval:＝:1:rand1:::100004,99999999,99999999,99999999:
>IF:randval:＝:2:rand2:::100005,99999999,99999999,99999999:
>IF:randval:＝:3:rand3:::100006,99999999,99999999,99999999:
>ELSE::::rand4:::100007,99999999,99999999,99999999:
T100004:"rand1":80:330:80:20:0:0:
T100005:"rand2":200:330:80:20:0:0:
T100006:"rand3":310:330:80:20:0:0:
T100007:"rand4":430:330:80:20:0:0:
F110000:"2":132:132:768:558:0:0:756:500:208:
S110001:"ENTRY":200:50:80:20:110002,99999999,99999999,99999999:0:
A110002:"Rand2":190:90:100:60:110003,99999999,99999999,99999999:0:
>RND::randval:1:2:::0:
B110003:"Pick1of2":200:190:100:60:0:0:
>IF:randval:＝:1:rand1:::110004,99999999,99999999,99999999:
>ELSE::::rand2:::110005,99999999,99999999,99999999:
T110004:"rand1":100:350:80:20:0:0:
T110005:"rand2":300:350:80:20:0:0:
F120000:"サッカー:Main":132:132:960:729:0:0:948:623:208:
S120001:"ENTRY":200:60:80:20:120002,99999999,99999999,99999999:0:
A120002:"stand":200:140:100:60:120003,99999999,99999999,99999999:0:
>SET::Power:1::::0:
>SET::Trace:0::::0:
>PLAY:ACTION:STAND:::::0:
>WAIT:::::::0:
A120003:"search":200:260:100:60:120004,99999999,99999999,99999999:0:"PinkBallを探す"
>PLAY:ACTION:MOVE_HEAD:0:0:::0:
>WAIT:::::::0:
>PLAY:ACTION:SEARCH.HEAD.LOWCENT:PINK_BALL::::0:
>WAIT:::::::0:
G120004:"Tracking":200:390:100:60:0:130000:
>return::::RETURN:::120005,99999999,99999999,99999999:
T120005:"RETURN":190:510:80:20:0:0:
F130000:"サッカー:tracking":164:176:960:729:0:0:948:623:208:
S130001:"entry":220:50:80:20:130003,99999999,99999999,99999999:0:
T130002:"return":610:930:80:20:0:0:
A130003:"track":220:120:100:60:130004,99999999,99999999,99999999:0:
>PLAY:ACTION:TRACK_HEAD:PINK_BALL::::0:
B130004:"pink_ball?":220:250:100:60:0:0:"aaa"
>IF:Pink_Ball:＝:1:Head_Tilt?:::130005,99999999,99999999,99999999:
>ELSE::::Ear:::130012,99999999,99999999,99999999:
B130005:"Head_Tilt?":130:370:100:60:0:0:
>IF:Head_Tilt:＞:-60::::0:
>AND:Wait:＝:1:walk:::130006,99999999,99999999,99999999:
>ELSE::::Head_Pan?:::130008,99999999,60,-20:
A130006:"walk":130:490:100:60:130008,10,80,99999999:0:"ボールとの距離を詰める"
>PLAY:ACTION:WALK:Head_Pan:30:::0:
A130007:"turn":310:490:100:60:130009,99999999,90,-10:0:
>PLAY:ACTION:TURN:Head_Pan::::0:
B130008:"Head_Pan?":310:370:100:60:0:0:
>IF:Head_Pan:＞:35::::0:
>AND:Wait:＝:1:turn:::130007,20,99999999,99999999:
>IF:Head_Pan:＜:-35::::0:
>AND:Wait:＝:1:turn:::130007,20,99999999,99999999:
>ELSE::::set:::130009,99999999,60,-20:
A130009:"set":500:370:100:60:130010,99999999,99999999,99999999:0:
>SET::pan:Head_Pan::::0:
G130010:"kick":500:490:100:60:0:140000:
>track::::pink_ball?:::130004,20,-440,99999999:
>stop::::Ear:::130012,99999999,99999999,99999999:
A130011:"STPEar":600:780:100:60:130002,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.EARSTOP:::::0:
A130012:"Ear":590:670:100:60:130011,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.EAR:::::0:
F140000:"サッカー:kick":220:220:998:780:0:0:986:675:208:
S140001:"ENTRY":170:50:80:20:140003,99999999,99999999,99999999:0:
T140002:"track":550:620:80:20:0:0:
B140003:"wait?":170:120:100:60:0:0:
>IF:Wait:＝:1:Head_Pan:::140009,99999999,99999999,99999999:
>ELSE::::track:::140002,99999999,99999999,99999999:
A140004:"wait500":170:370:100:60:140005,99999999,100,-20:0:"ボールが動いているか？"
>WAIT:500::::::0:
B140005:"pan?":390:250:100:60:0:0:
>IF:Head_Pan:＝:pan:kick?:::140006,20,99999999,99999999:
>ELSE::::track:::140002,99999999,99999999,99999999:
B140006:"kick?":390:370:100:60:0:0:"キックできる近さ？"
>IF:Head_Tilt:≦:-60:kick:::140007,99999999,99999999,99999999:
>ELSE::::track:::140002,99999999,99999999,99999999:
A140007:"kick":390:490:100:60:140008,99999999,99999999,99999999:0:
>PLAY:ACTION:KICK:pan:1000:::0:
>STOP:::::::0:トラッキングをstop
>WAIT:::::::0:
T140008:"stop":390:620:80:20:0:0:
B140009:"Head_Pan":170:250:100:60:0:0:
>IF:Head_Pan:≦:-60:wait500:::140004,99999999,99999999,99999999:
>ELSE::::pan?:::140005,99999999,99999999,-40:
F150000:"bakerari21:Main":66:66:960:750:0:0:948:644:208:
S150001:"ENTRY":220:30:80:20:150002,99999999,99999999,99999999:0:
A150002:"初期設定":230:90:100:60:150004,99999999,99999999,99999999:0:"変数の設定等をしておきます"
>SET::Power:1::::0:
>SET::dd:0::::0:
>SET::rr:0::::0:
G150003:"旋回？":240:460:100:60:0:180000:"旋回する方向を決定するｸﾞﾙｰﾌﾟﾎﾞｯｸｽ"
>RETURN::::サッカー(1):::150010,99999999,99999999,99999999:
G150004:"Pick01":360:200:100:60:0:190000:
>Rand1::::zensin:::150005,99999999,99999999,99999999:
>Rand2::::walking6:::150007,99999999,99999999,99999999:
>Rand3::::shakotan1:::150008,99999999,99999999,99999999:
>Rand5::::shakotyo2:::150006,99999999,99999999,99999999:
>Rand4::::hohuku2:::150009,99999999,99999999,99999999:
A150005:"zensin":60:340:100:60:150003,99999999,99999999,99999999:0:
>PLAY:ACTION+:zensin:::::0:
A150006:"shakotyo2":390:340:100:60:150003,99999999,99999999,99999999:0:
>PLAY:ACTION+:shakotyo2:::::0:
A150007:"walking6":170:340:100:60:150003,99999999,99999999,99999999:0:
>PLAY:ACTION+:walking6:::::0:
A150008:"shakotan1":280:340:100:60:150003,99999999,99999999,99999999:0:
>PLAY:ACTION+:shakotan1:::::0:
A150009:"hohuku2":500:340:100:60:150003,99999999,99999999,99999999:0:
>PLAY:ACTION+:hohuku2:::::0:
G150010:"サッカー(1)":250:560:100:60:0:210000:
>return::::RETURN:::150011,99999999,99999999,99999999:
T150011:"RETURN":250:730:80:20:0:0:
F160000:"bakerari21:距離ﾁｪｯｸ":374:29:461:603:0:0:948:644:208:
S160001:"entry":200:50:80:20:160002,99999999,99999999,99999999:0:
A160002:"count":200:120:100:60:160003,99999999,99999999,99999999:0:"ｶｳﾝﾀｰｾｯﾄ"
>SET::t:1::::0:
A160003:"add_count":200:210:100:60:160004,99999999,99999999,99999999:0:
>ADD::t:1::::0:
B160004:"歩きすぎ？":200:300:100:60:0:0:"前進がずっと続くと自主的に前方をﾁｪｯｸします"
>IF:t:＝:10000:stop_walk:::160005,30,99999999,99999999:
>ELSE::::距離ﾁｪｯｸ:::160006,99999999,60,99999999:
A160005:"stop_walk":190:490:100:60:160007,99999999,99999999,99999999:0:"障害物との距離が300mm以下なら前進中止"
>PLAY:ACTION:STOP_WALK:::::0:
>WAIT:::::::0:
B160006:"距離ﾁｪｯｸ":300:390:100:60:0:0:"障害物との距離ﾁｪｯｸ"
>IF:Distance:＜:300:stop_walk:::160005,20,99999999,99999999:歩行停止します
>ELSE:::::::0:前進します
T160007:"return":190:580:80:20:0:0:
F170000:"bakerari21:進行方向ﾁｪｯｸ":1025:9:248:428:0:0:948:644:80:
S170001:"ENTRY":200:50:80:20:170002,99999999,99999999,99999999:0:
A170002:"move_head":200:100:100:60:170003,99999999,99999999,99999999:0:"どっちが開けているか頭を回して調べる"
>PLAY:ACTION:MOVE.HEAD.FAST:-90:0:::0:右から調べます
>WAIT:::::::0:
>PLAY:ACTION:MOVE.HEAD.FAST:90:0:::0:
>SET::dd:0::::0:
B170003:"wait?":200:200:100:60:0:0:"頭を回している間に一番開けている方向を探します。"
>IF:Wait:＞:0:変数のｾｯﾄ:::170004,99999999,99999999,99999999:動作完了するまで
>ELSE::::move_head2:::170005,99999999,99999999,99999999:完了
A170004:"変数のｾｯﾄ":200:300:100:60:170006,99999999,99999999,99999999:0:"一番開けている方向を調べる"
>SET::d:Distance::::0:距離比較のため
>SET::p:Head_Pan::::0:進行方向のため
A170005:"move_head2":380:380:100:60:170007,99999999,99999999,99999999:0:"頭を元に戻す"
>PLAY:ACTION:MOVE.HEAD.FAST:0:0:::0:
>WAIT:::::::0:
B170006:"比較":200:400:100:60:0:0:" (距離の)今までの最大値と最新値を比較します"
>IF:d:＞:dd:set(確定):::170008,10,99999999,99999999:新しい値のほうが大
>ELSE::::wait?:::170003,20,90,99999999:最新値のほうが小
T170007:"RETURN":380:510:80:20:0:0:
A170008:"set(確定)":200:510:100:60:170003,99999999,-80,99999999:0:" 距離が最大の時のHead_Panを一時保管"
>SET::dd:d::::0:
>SET::pan:p::::0:
F180000:"bakerari21:旋回？":678:275:448:559:0:0:948:644:80:
S180001:"ENTRY":300:40:80:20:180002,99999999,99999999,99999999:0:
B180002:"旋回方向選定":300:100:100:60:0:0:"panによって旋回する方向を決めます"
>IF:pan:＜:-15:右旋回:::180003,99999999,99999999,99999999:
>IF:pan:＞:15:左旋回:::180004,99999999,99999999,99999999:
>ELSE::::後退？:::180005,99999999,99999999,99999999:
A180003:"右旋回":130:220:100:60:180006,99999999,99999999,99999999:0:"右方向にﾀｰﾝ"
>PLAY:ACTION+:robospin2:::::0:
>WAIT:::::::0:
A180004:"左旋回":300:220:100:60:180007,99999999,99999999,99999999:0:"左方向にﾀｰﾝ"
>PLAY:ACTION+:robospin2:::::0:
>WAIT:::::::0:
B180005:"後退？":510:220:100:60:0:0:"前方の距離によっては後退"
>IF:dd:＜:300:後退します:::180008,99999999,99999999,99999999:
>ELSE::::RETURN:::180009,140,99999999,99999999:
B180006:"進行可能？":130:330:100:60:0:0:"前方が500mm以上開けるまでﾀｰﾝ"
>IF:Distance:＜:700:右旋回:::180003,99999999,-80,99999999:
>ELSE::::RETURN:::180009,60,99999999,99999999:
B180007:"進行可能":300:330:100:60:0:0:"前方が500mm以上開けるまでﾀｰﾝ"
>IF:Distance:＜:700:左旋回:::180004,99999999,-80,99999999:
>ELSE::::RETURN:::180009,40,99999999,99999999:
A180008:"後退します":450:330:100:60:180009,20,99999999,99999999:0:"少し後退します"
>PLAY:ACTION+:runningBL1:::::0:
>WAIT:::::::0:
T180009:"RETURN":520:510:80:20:0:0:
F190000:"bakerari21:pick1-5":88:88:768:558:0:0:770:480:208:
S190001:"ENTRY":200:50:80:20:190002,99999999,99999999,99999999:0:
A190002:"Rand01":220:130:100:60:190008,99999999,99999999,99999999:0:
>RND::randval:1:5:::0:
T190003:"Rand1":140:350:80:20:0:0:
T190004:"Rand2":250:350:80:20:0:0:
T190005:"Rand3":350:350:80:20:0:0:
T190006:"Rand5":580:350:80:20:0:0:
T190007:"Rand4":470:350:80:20:0:0:
B190008:"pick1-5":220:220:100:60:0:0:
>IF:randval:＝:1:Rand1:::190003,99999999,99999999,99999999:
>IF:randval:＝:2:Rand2:::190004,99999999,99999999,99999999:
>IF:randval:＝:3:Rand3:::190005,99999999,99999999,99999999:
>IF:randval:＝:4:Rand4:::190007,99999999,99999999,99999999:
>ELSE::::Rand5:::190006,99999999,99999999,99999999:
F200000:"bakerari21:旋回方向":107:31:768:558:0:0:810:630:208:
S200001:"ENTRY":380:40:80:20:200003,99999999,99999999,99999999:0:
T200002:"RETURN":380:600:80:20:0:0:
B200003:"旋回方向選定":380:120:100:60:0:0:
>IF:pan:＜:-15:EarR:::200012,99999999,99999999,99999999:
>IF:pan:＞:15:EarL:::200014,99999999,99999999,99999999:
>ELSE::::後退？:::200006,99999999,99999999,99999999:
A200004:"右旋回":80:390:100:60:200008,99999999,99999999,99999999:0:
>PLAY:ACTION:TURN:-30::::0:
>WAIT:::::::0:
A200005:"左旋回":280:380:100:60:200009,99999999,99999999,99999999:0:
>PLAY:ACTION:TURN:30::::0:
>WAIT:::::::0:
B200006:"後退？":610:210:100:60:0:0:
>IF:dd:＜:300:TailRot:::200011,99999999,99999999,99999999:
>ELSE::::RETURN:::200002,99999999,99999999,99999999:
A200007:"後退します":610:470:100:60:200002,99999999,99999999,99999999:0:
>PLAY:ACTION:WALK:180:300:::0:
>WAIT:::::::0:
B200008:"進行可能？":80:490:100:60:0:0:
>IF:Distance:＜:500:EarR:::200012,99999999,99999999,99999999:
>ELSE::::RETURN:::200002,99999999,99999999,99999999:
B200009:"進行可能":280:470:100:60:0:0:
>IF:Distance:＜:500:EarL:::200014,99999999,99999999,99999999:
>ELSE::::RETURN:::200002,99999999,99999999,99999999:
A200010:"STPTai":610:400:100:60:200007,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.TAILSTOP:::::0:
A200011:"TailRot":610:310:100:60:200016,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.TAILROT:::::0:
A200012:"EarR":80:210:100:60:200013,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.EARR:::::0:
A200013:"STPEarR":80:300:100:60:200004,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.EARSTOP:::::0:
A200014:"EarL":280:210:100:60:200015,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.EARL:::::0:
A200015:"STPEarL":280:290:100:60:200005,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.EARSTOP:::::0:
>WAIT:::::::0:
A200016:"EarB":750:310:100:60:200017,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.EAR:::::0:
A200017:"STPEarB":750:400:100:60:200010,99999999,99999999,99999999:0:
>PLAY:ACTION:PALONE.AUTO.EARSTOP:::::0:
F210000:"bakerari21:サッカー:Main":132:132:960:729:0:0:948:623:208:
S210001:"start":200:60:80:20:210002,99999999,99999999,99999999:0:
A210002:"stand":200:140:100:60:210003,99999999,99999999,99999999:0:
>SET::Trace:0::::0:
>PLAY:ACTION:STAND:::::0:
>WAIT:::::::0:
A210003:"search":200:260:100:60:210004,99999999,99999999,99999999:0:"PinkBallを探す"
>PLAY:ACTION:MOVE_HEAD:0:0:::0:
>WAIT:::::::0:
>PLAY:ACTION:SEARCH.HEAD.LOWCENT:PINK_BALL::::0:
>WAIT:::::::0:
G210004:"Tracking":200:390:100:60:0:220000:
>return::::return:::210005,99999999,99999999,99999999:
T210005:"return":210:530:80:20:0:0:
F220000:"bakerari21:サッカー:tracking":164:176:960:729:0:0:948:623:208:
S220001:"entry":220:50:80:20:220003,99999999,99999999,99999999:0:
T220002:"return":640:730:80:20:0:0:
A220003:"track":220:120:100:60:220004,99999999,99999999,99999999:0:
>PLAY:ACTION:TRACK_HEAD:PINK_BALL::::0:
B220004:"pink_ball?":220:250:100:60:0:0:"aaa"
>IF:Pink_Ball:＝:1:Head_Tilt?:::220006,99999999,99999999,99999999:
>ELSE::::wait:::220005,99999999,99999999,99999999:
A220005:"wait":640:610:100:60:220002,99999999,99999999,99999999:0:
>WAIT:::::::0:
B220006:"Head_Tilt?":130:370:100:60:0:0:
>IF:Head_Tilt:＞:-60::::0:
>AND:Wait:＝:1:walk:::220007,99999999,99999999,99999999:
>ELSE::::Head_Pan?:::220009,99999999,60,-20:
A220007:"walk":130:490:100:60:220009,10,80,99999999:0:"ボールとの距離を詰める"
>PLAY:ACTION:WALK:Head_Pan:30:::0:
A220008:"turn":310:490:100:60:220010,99999999,90,-10:0:
>PLAY:ACTION:TURN:Head_Pan::::0:
B220009:"Head_Pan?":310:370:100:60:0:0:
>IF:Head_Pan:＞:35::::0:
>AND:Wait:＝:1:turn:::220008,20,99999999,99999999:
>IF:Head_Pan:＜:-35::::0:
>AND:Wait:＝:1:turn:::220008,20,99999999,99999999:
>ELSE::::set:::220010,99999999,60,-20:
A220010:"set":500:370:100:60:220011,99999999,99999999,99999999:0:
>SET::pan:Head_Pan::::0:
G220011:"kick":500:490:100:60:0:230000:
>track::::pink_ball?:::220004,20,-440,99999999:
>stop::::wait:::220005,20,99999999,99999999:
F230000:"bakerari21:サッカー:kick":220:220:998:780:0:0:986:675:208:
S230001:"ENTRY":170:50:80:20:230003,99999999,99999999,99999999:0:
T230002:"track":550:620:80:20:0:0:
B230003:"wait?":170:120:100:60:0:0:
>IF:Wait:＝:1:Head_Pan:::230009,99999999,99999999,99999999:
>ELSE::::track:::230002,99999999,99999999,99999999:
A230004:"wait500":170:370:100:60:230005,99999999,100,-20:0:"ボールが動いているか？"
>WAIT:500::::::0:
B230005:"pan?":390:250:100:60:0:0:
>IF:Head_Pan:＝:pan:kick?:::230006,20,99999999,99999999:
>ELSE::::track:::230002,99999999,99999999,99999999:
B230006:"kick?":390:370:100:60:0:0:"キックできる近さ？"
>IF:Head_Tilt:≦:-60:kick:::230007,99999999,99999999,99999999:
>ELSE::::track:::230002,99999999,99999999,99999999:
A230007:"kick":390:490:100:60:230008,99999999,99999999,99999999:0:
>PLAY:ACTION:KICK:pan:1000:::0:
>STOP:::::::0:トラッキングをstop
>WAIT:::::::0:
T230008:"stop":390:620:80:20:0:0:
B230009:"Head_Pan":170:250:100:60:0:0:
>IF:Head_Pan:≦:-60:wait500:::230004,99999999,99999999,99999999:
>ELSE::::pan?:::230005,99999999,99999999,-40:
F240000:"Dasshutu0:Main":66:66:960:750:0:0:948:644:208:
S240001:"ENTRY":220:30:80:20:240002,99999999,99999999,99999999:0:
A240002:"初期設定":220:90:100:60:240003,99999999,99999999,99999999:0:"変数の設定等をしておきます"
>SET::Power:1::::0:
>SET::dd:0::::0:
>SET::rr:0::::0:
A240003:"前進！":220:190:100:60:240004,99999999,99999999,99999999:0:"前進します"
>PLAY:ACTION:STAND:::::0:
>WAIT:::::::0:
>PLAY:ACTION:WALK:0:-1:::0:距離-1で距離指定ナシ
G240004:"距離ﾁｪｯｸ":220:290:100:60:0:250000:"距離をﾁｪｯｸするｸﾞﾙｰﾌﾟﾎﾞｯｸｽ"
>return::::進行方向ﾁｪｯｸ:::240005,99999999,99999999,99999999:
G240005:"進行方向ﾁｪｯｸ":220:390:100:60:0:260000:"進行方向を決定するｸﾞﾙｰﾌﾟﾎﾞｯｸｽ"
>RETURN::::旋回？:::240006,99999999,99999999,99999999:
G240006:"旋回？":220:490:100:60:0:270000:"旋回する方向を決定するｸﾞﾙｰﾌﾟﾎﾞｯｸｽ"
>RETURN::::RETURN:::240007,99999999,99999999,99999999:
T240007:"RETURN":220:600:80:20:0:0:
F250000:"Dasshutu0:距離ﾁｪｯｸ":374:29:461:603:0:0:948:644:208:
S250001:"entry":200:50:80:20:250002,99999999,99999999,99999999:0:
A250002:"count":200:120:100:60:250003,99999999,99999999,99999999:0:"ｶｳﾝﾀｰｾｯﾄ"
>SET::t:1::::0:
A250003:"add_count":200:210:100:60:250004,99999999,99999999,99999999:0:
>ADD::t:1::::0:
B250004:"歩きすぎ？":200:300:100:60:0:0:"前進がずっと続くと自主的に前方をﾁｪｯｸします"
>IF:t:＝:500:stop_walk:::250005,30,99999999,99999999:
>ELSE::::距離ﾁｪｯｸ:::250006,99999999,60,99999999:
A250005:"stop_walk":190:490:100:60:250007,99999999,99999999,99999999:0:"障害物との距離が300mm以下なら前進中止"
>PLAY:ACTION:STOP_WALK:::::0:
>WAIT:::::::0:
B250006:"距離ﾁｪｯｸ":300:390:100:60:0:0:"障害物との距離ﾁｪｯｸ"
>IF:Distance:＜:300:stop_walk:::250005,20,99999999,99999999:歩行停止します
>ELSE::::add_count:::250003,20,70,99999999:前進します
T250007:"return":190:580:80:20:0:0:
F260000:"Dasshutu0:進行方向ﾁｪｯｸ":1025:9:248:428:0:0:948:644:80:
S260001:"ENTRY":200:50:80:20:260002,99999999,99999999,99999999:0:
A260002:"move_head":200:100:100:60:260003,99999999,99999999,99999999:0:"どっちが開けているか頭を回して調べる"
>PLAY:ACTION:MOVE.HEAD.FAST:-90:0:::0:右から調べます
>WAIT:::::::0:
>PLAY:ACTION:MOVE.HEAD.FAST:90:0:::0:
>SET::dd:0::::0:
B260003:"wait?":200:200:100:60:0:0:"頭を回している間に一番開けている方向を探します。"
>IF:Wait:＞:0:変数のｾｯﾄ:::260004,99999999,99999999,99999999:動作完了するまで
>ELSE::::move_head2:::260005,99999999,99999999,99999999:完了
A260004:"変数のｾｯﾄ":200:300:100:60:260006,99999999,99999999,99999999:0:"一番開けている方向を調べる"
>SET::d:Distance::::0:距離比較のため
>SET::p:Head_Pan::::0:進行方向のため
A260005:"move_head2":380:380:100:60:260007,99999999,99999999,99999999:0:"頭を元に戻す"
>PLAY:ACTION:MOVE.HEAD.FAST:0:0:::0:
>WAIT:::::::0:
B260006:"比較":200:400:100:60:0:0:" (距離の)今までの最大値と最新値を比較します"
>IF:d:＞:dd:set(確定):::260008,10,99999999,99999999:新しい値のほうが大
>ELSE::::wait?:::260003,20,90,99999999:最新値のほうが小
T260007:"RETURN":380:510:80:20:0:0:
A260008:"set(確定)":200:510:100:60:260003,99999999,-80,99999999:0:" 距離が最大の時のHead_Panを一時保管"
>SET::dd:d::::0:
>SET::pan:p::::0:
F270000:"Dasshutu0:旋回？":678:275:448:559:0:0:948:644:80:
S270001:"ENTRY":300:40:80:20:270002,99999999,99999999,99999999:0:
B270002:"旋回方向選定":300:100:100:60:0:0:"panによって旋回する方向を決めます"
>IF:pan:＜:-15:右旋回:::270003,99999999,99999999,99999999:
>IF:pan:＞:15:左旋回:::270004,99999999,99999999,99999999:
>ELSE::::後退？:::270005,99999999,99999999,99999999:
A270003:"右旋回":130:220:100:60:270006,99999999,99999999,99999999:0:"右方向にﾀｰﾝ"
>PLAY:ACTION:TURN:-90::::0:
>WAIT:::::::0:
A270004:"左旋回":300:220:100:60:270007,99999999,99999999,99999999:0:"左方向にﾀｰﾝ"
>PLAY:ACTION:TURN:90::::0:
>WAIT:::::::0:
B270005:"後退？":500:330:100:60:0:0:"前方の距離によっては後退"
>IF:dd:＜:500:後退します:::270008,99999999,99999999,99999999:
>ELSE::::RETURN:::270009,140,99999999,99999999:
B270006:"進行可能？":130:330:100:60:0:0:"前方が500mm以上開けるまでﾀｰﾝ"
>IF:Distance:＜:500:右旋回:::270003,99999999,-80,99999999:
>ELSE::::WalkR:::270010,99999999,99999999,99999999:
B270007:"進行可能":300:330:100:60:0:0:"前方が500mm以上開けるまでﾀｰﾝ"
>IF:Distance:＜:500:左旋回:::270004,99999999,-80,99999999:
>ELSE::::WalkL:::270011,99999999,99999999,99999999:
A270008:"後退します":450:470:100:60:270009,99999999,99999999,99999999:0:"少し後退します"
>PLAY:ACTION:WALK:180:300:::0:
>WAIT:::::::0:
>PLAY:ACTION:TURN:180::::0:
>WAIT:::::::0:
>PLAY:ACTION:MOVE.MOVE.FAST:0:300:::0:
>WAIT:::::::0:
T270009:"RETURN":520:640:80:20:0:0:
A270010:"WalkR":130:470:100:60:270009,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.FAST:-30:300:::0:
>WAIT:::::::0:
A270011:"WalkL":300:470:100:60:270009,99999999,99999999,99999999:0:
>PLAY:ACTION:MOVE.MOVE.FAST:30:300:::0:
>WAIT:::::::0:
F280000:"Hour":110:110:768:558:0:0:756:500:208:
S280001:"ENTRY":200:10:80:20:280002,99999999,99999999,99999999:0:
B280002:"Hour?":200:80:100:60:0:0:
>IF:Hour:＜:3:Yawn:::280006,99999999,99999999,99999999:
>IF:Hour:＜:12:Lough:::280003,99999999,99999999,99999999:
>IF:Hour:＜:18:Come:::280004,99999999,99999999,99999999:
>IF:Hour:≦:23:Win:::280005,99999999,99999999,99999999:
T280003:"Lough":160:350:80:20:0:0:
T280004:"Come":250:350:80:20:0:0:
T280005:"Win":340:350:80:20:0:0:
T280006:"Yawn":60:350:80:20:0:0:
F290000:"GetBackUp":66:66:768:558:0:-9:810:610:208:
S290001:"ENTRY":200:50:80:20:290003,99999999,99999999,99999999:0:
T290002:"RETURN":660:360:80:20:0:0:
A290003:"Restore_logic":200:110:100:60:290004,99999999,99999999,99999999:0:
>SET::AP_NoFallDown:0::::0:'restore normal recovery logic
B290004:"If_Fallen":200:190:100:60:0:0:
>IF:Posture1:＝:4097:a_fdh:::290005,99999999,99999999,99999999:'fall front
>IF:Posture1:＝:4098:a_fdl:::290006,99999999,99999999,99999999:'fall left
>IF:Posture1:＝:4099:a_fdr:::290007,99999999,99999999,99999999:'fall right
>IF:Posture1:＝:4100:a_fdt:::290008,99999999,99999999,99999999:'fall tail
>IF:Posture1:＝:4101:a_fdb:::290009,99999999,99999999,99999999:'fall back
>ELSE::::RETURN:::290002,99999999,99999999,99999999:'fall tail
A290005:"a_fdh":60:340:100:60:290010,99999999,99999999,99999999:0:
>PLAY:MWCID:313:::::0:
>WAIT:::::::0:
A290006:"a_fdl":180:340:100:60:290010,99999999,99999999,99999999:0:
>PLAY:MWCID:312:::::0:
>WAIT:::::::0:
A290007:"a_fdr":290:340:100:60:290010,99999999,99999999,99999999:0:
>PLAY:MWCID:311:::::0:
>WAIT:::::::0:
A290008:"a_fdt":400:340:100:60:290010,99999999,99999999,99999999:0:
>PLAY:MWCID:314:::::0:
>WAIT:::::::0:
A290009:"a_fdb":520:340:100:60:290010,99999999,99999999,99999999:0:
>PLAY:MWCID:315:::::0:
>WAIT:::::::0:
A290010:"Wait_a_bit":200:440:100:60:290004,99999999,99999999,99999999:0:
>WAIT:250::::::0:
F300000:"Ｍｉｎｕｔｅ":0:0:768:558:0:0:756:520:208:
S300001:"ENTRY":200:50:80:20:300002,99999999,99999999,99999999:0:
B300002:"分？":200:170:100:60:0:0:
>IF:Min:＜:10:min1:::300003,99999999,99999999,99999999:
>IF:Min:＜:20:min2:::300004,99999999,99999999,99999999:
>IF:Min:＜:30:min3:::300005,99999999,99999999,99999999:
>IF:Min:＜:40:min4:::300006,99999999,99999999,99999999:
>IF:Min:＜:50:min5:::300007,99999999,99999999,99999999:
>IF:Min:≦:59:min6:::300008,99999999,99999999,99999999:
T300003:"min1":90:410:80:20:0:0:
T300004:"min2":220:410:80:20:0:0:
T300005:"min3":340:410:80:20:0:0:
T300006:"min4":460:410:80:20:0:0:
T300007:"min5":570:410:80:20:0:0:
T300008:"min6":690:410:80:20:0:0:
F310000:"Secont":110:110:768:558:0:-65:756:500:208:
S310001:"ENTRY":200:50:80:20:310002,99999999,99999999,99999999:0:
B310002:"秒？":200:170:100:60:0:0:
>IF:Sec:＜:10:sec1:::310003,99999999,99999999,99999999:
>IF:Sec:＜:20:sec2:::310004,99999999,99999999,99999999:
>IF:Sec:＜:30:sec3:::310005,99999999,99999999,99999999:
>IF:Sec:＜:40:sec4:::310006,99999999,99999999,99999999:
>IF:Sec:＜:50:sec5:::310007,99999999,99999999,99999999:
>IF:Sec:≦:59:sec6:::310008,99999999,99999999,99999999:
T310003:"sec1":60:330:80:20:0:0:
T310004:"sec2":180:330:80:20:0:0:
T310005:"sec3":290:330:80:20:0:0:
T310006:"sec4":400:330:80:20:0:0:
T310007:"sec5":500:330:80:20:0:0:
T310008:"sec6":590:330:80:20:0:0: