THE COMMAND BLOCK FACTORY

Often-Used Commands

 

 

 

Basic Movements

The basic movements are those from "Stop" to "Rotate from right to

 

left" on the command table. The extent of the movement is expressed

 

in numbers of steps, for example, "Go forward 3 steps" and "Rotate 6

 

steps to the right". In the case of the "Stop" command, the robot

 

does not move, but instead of the number of steps, the numerical

 

parameter for this command gives the number of seconds for which the

 

robot must stand still.

 

 

 

Switching panels The purpose of switching panels is to switch to a program on another

 

panel. Commands such as "Switch to Panel 2" can be used. When the

 

sensor assigned to this command reacts, control switches to the

 

 

 

program on Panel 2.

 

 

 

 

 

 

Command Table

This table lists the basic commands, plus other commands, and describes

 

what they do.

 

 

 

 

 

 

 

 

 

Icon

Name

Movement

time(sec) Override

Speed

 

 

 

 

 

 

 

 

Stop

Robot halts for period specified.

time(sec)

 

 

 

 

 

 

 

 

 

Go

Robot advances specified number of steps.

Steps

 

 

 

forward

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Go

Robot retreats specified number of steps.

Steps

 

 

backward

 

 

 

 

 

 

 

 

 

 

 

 

Rotate to

Robot moves left and right legs in opposite

 

 

 

directions, and rotates to the right, on

Steps

 

 

the right

 

 

the spot.

 

 

 

 

 

 

 

 

Rotate to

Robot moves left and right legs in opposite

 

 

 

directions, and rotates to the left, on

Steps

 

 

the Left

 

 

the spot.

 

 

 

 

 

 

 

 

Turn right

Robot turns to the right like a car, by

Steps

 

 

moving its legs forward on one side only.

 

 

 

 

 

 

 

 

Turn left

Robot turns to the left like a car, by

Steps

 

 

moving its legs forward on one side only.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Back Up

Robot turns back to the right like a car,

 

 

 

 

by moving its legs backward on one

Steps

 

 

 

right

 

 

 

side only.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Back Up

Robot turns back to the left like a car,

 

 

 

 

by moving its legs backward on one

Steps

 

 

 

left

 

 

 

side only.

 

 

 

 

 

 

 

 

 

 

 

 

 

Rotate to

Robot turns randomly either to the right

 

 

 

the right

Steps

 

 

or to the left.

 

 

 

or left

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Sound

Robot emits a call - one of the four calls

 

 

 

 

from 1 to 4 - for the number of times

Times

 

 

 

 

specified.

 

 

 

 

 

 

 

 

 

 

Call a

While calling, the robot emits the infrared

 

 

 

 

fellow

Time(s)

 

 

 

signal used for calling to another WonderBorg.

 

 

WonderBorg

 

 

 

 

 

 

 

 

Threaten

While calling, the robot emits the infrared

Time(s)

 

 

 

fellow

signal used for threatening another

 

 

WonderBorg

WonderBorg.

 

 

 

 

Dance

Robot rotates rhythmically to the left and

Time(s)

 

 

 

right.

 

 

 

 

 

 

 

 

 

 

 

 

 

Option ON

Motor or other device connected to Option

Period(sec)

 

 

Connector is turned ON for specified period.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Switch

Control jumps to the panel number specified

Panel no

 

 

 

panel

after the icon (1 to 8).

1 to 8

 

 

 

 

 

 

 

 

 

Tone

Robot emits specified tone, which is one

Tone no

 

 

(1 to 8)

of the 8.

1 to 8

 

 

41

PRIORITY ORDER AND INTERRUPTS

Priority Order

When two sensor blocks react at the same time, the sensor block on the higher line of the program takes priority, and the WonderBorg executes the command linked to that sensor. If the WonderBorg does not behave as you expect it to, check the priority order.

Interrupt

When you click the "Interrupt" button on the Command Block Factory screen, the selected block will turn green and its corners will become rounded. When a block is red, other sensors will be ignored until this block’s command has completed (e.g. until the robot has advanced 5 steps). When the block is green, however, in the event of a reaction by a sensor with a higher priority (i.e. a sensor higher up on the Panel screen than the sensor linked to this command) while this command is being executed, control will switch to the command assigned to the prioritized sensor. In other words, the green block is "interruptable". This is explained in the diagram below.

When you use an interrupt, the WonderBorg will react more swiftly to the sensors, and will break off smoothly in the middle of a series of actions when an interrupt is triggered.

How an Interrupt Works

Example: If you want to make the WonderBorg walk towards the brightest

direction....

Interruptable block

If a sensor with a higher priority reacts while action in progress, control will switch to the command linked to the prioritized sensor

If the WonderBorg is programmed to rotate (30 Steps Left), then change position

slightly (go 2 Steps forward).....

1. While the robot is rotating left (for instance,

when it has walked 3 steps).....

2. IF "Light" Sensor reacts, robot does not have to rotate for remaining number of

steps (nor does it have to take 2 steps

forward in 2nd part of instruction)."Light" Sensor react!!! The "Light" sensor is higher up in the

program than "Nothing Here". The first takes priority.

3. Robot immediately executes "Go Forward 5

Steps" command. ("Go Forward Command" overrides the other command.)

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Image 22
Tiger 70709 manual Priority Order and Interrupts