ブログパーツUL5

RZ-1の改良モーションがリリース

刊『ロボザック』のホームページにおいて、赤外線リモコン、無線用のモーションが改良されて、より安定して動作するようにしてリリースされました。

詳細は、週刊『ロボザック』のホームページの新着ニュースの『09/05/08 ●RZ-1モーション改良プログラム●』をご覧ください。モーションプログラムは下記のURLからダウンロードできます。
http://www.de-club.net/rbz/news.htm#new090508

リリースされたモーションプログラムは次の通り
「無線タッチサウンド2009.bas」
「無線胸光サウンド2009.bas」
「無線足裏光2009.bas」
「赤外線20関節2009.bas」
「赤外線20関節(S)-2009.bas」
RZ-1の上半身の揺れが大きくなる場合にはお試しくださいとのことです。
(自己責任ですよ)
0

    音声認識コードも表示可能

     メンテナンス用にしか考えていなかった液晶表示を搭載したことで、意外と楽しいことが出来ます。LED表示とは違い表示文字数が多いのでいろいろな利用方法が考えられる。音声認識でバイバイとすると、液晶には”Good Bye ! See you again”と表示できます。

     RZ-1に液晶表示を搭載すると意外と便利で、直立(待機)状態のときに音声認識で何を認識したかを表示することも可能です。以下のプログラムをモーションのstandard_poseのサブルーチンに追加するだけで、音声認識で受信したコードをRXD値として表示できます。因みに、AD(2)は加速度センサーで水平度の値(135〜140)を表示しており、ゼロポイント設定の時にも便利です。

    ========= RXD Display =========
    PRINT 12 'CLS
    PRINT "Powerful RZ-1"
    PRINT 13 'CR
    PRINT 10 'LF
    PRINT "RXD="
    A = RXD - 128
    PRINT FORMAT(A,DEC,1)
    PRINT " AD="
    B = AD(2)
    PRINT FORMAT(B,DEC,3)
    '==========================
    0

      液晶表示の仮動作(プログラム中)



       RZ-1の脇で液晶表示を仮動作させてみました。

       電源投入直後のLCDの初期画面(左側) RZ-1の初期設定の完了画面(右側)

       液晶表示を搭載した時にAD値の表示が出来るようにしてみました。アナログ値を表示させるだけですが、リモコンのキーですぐに分かるのも便利かなと思い、作成してみました。ジャイロを2個搭載しているので、アナログポートの0,1,4,5はジャイロに占拠されているので除外しました。AD値を見なければいけないのは、電源電圧と加速度センサーと距側センサーのAD値だけですから1回で表示可能です。

      以下にそのモーションプログラムです。

      '----- メンテナンス用フラグ -----
      DIM m AS BYTE :'追加
      m=0      ;'追加

      '----- メインルーチン -----
      MAIN:
      IF m=1 THEN :'追加
      GOSUB mente ;'追加
      ENDIF ;'追加

        <途中省略>

      GOTO MAIN
      '-----------------------

      '----- P1キールーチン -----
      k25:
      IF m=0 THEN :'追加
      m=1 :'追加
      ELSE :'追加
      m=0 :'追加
      ENDIF :'追加

      GOSUB standard_pose
      GOTO main_exit
      '-----------------------ーー

      '----- メンテナンス表示ルーチン(新規) -----
      mente:
      PRINT 12 'CLS
      PRINT "Vcc="
      A = AD(6)
      B= A*10/256
      PRINT FORMAT(B,DEC,3)

      PRINT " AD2="
      A = AD(2)
      PRINT FORMAT(A,DEC,3)
      PRINT " AD3="
      A = AD(3)
      PRINT FORMAT(A,DEC,3)
      RETURN
      '---------------------------------

       これが動作させた表示です。ジャイロがアナログポートを取りすぎで、ちょっと寂しいですね。右下にスペースがあるので、何か追加してみようか思案中。

       なお、後ろ側のボディカバーは基板の小型が出来れば、製作する予定です。表面実装で基板の小型化と軽量化を検討中です。
      0

        1年ぶりにボディーカバー製作

         以前に作成した液晶表示(LCD)を搭載してみようという構想です。重量的には少し重くなりますが、前後バランスが取れるので何とかなりそうです。

         マトリックスLEDも捨てがたいのですが、消費電流と表示文字数が多く出来ない(あまり長い文章は読みづらい)ので、液晶表示にしてUARTでの通信をLCD用端子と接続して活用していく予定です。


         ID-01の音声合成を一時期に搭載を検討していましたが、カスタマイズすることが出来ないので諦めました。そこで、以前、メンテナンス用に製作した液晶表示を使うことにしました。

         モーションのプログラムも同時に検討中。

        RZ-1の電源投入直後の表示例
        '-- LCD Display SETTING --
        PRINT 12 'CLS
        PRINT "RZ-1 setting OK"
        PRINT 13 'CR
        PRINT 10 'LF
        PRINT "ROBOZAK 4800bps"
        DELAY 1000
        PRINT 12 'CLS
        PRINT "My name is RZ-1"
        PRINT 13 'CR
        PRINT 10 'LF
        PRINT "Vcc="
        A = AD(6)
        B= A*10/256
        PRINT FORMAT(B,DEC,1)
        PRINT "V "
        PRINT "AD="
        A = AD(2)
        PRINT FORMAT(A,DEC,3)
        '----------------------

        AD(6)は電源電圧のチェック(但し、小数点は使えません)で、6V以上かそれとも6V未満かが表示されます。
        AD(2)は加速度センサーで前後方向の傾きが定量的に表示されます。

         P1キーをメンテナンス用にして設定しておいて、全てのAD値が表示できるようにすることもできます。P1キーを押されるとメンテナンス用フラグがONになってmainルーチンで表示すれば、いつでもチェックできるようになります。
        0

          「みんなの体操」風のモーション

           当初は「みんなの体操」のモーションを作成しようとしましたが、軸の数が足りないので無理でした。そこで、「みんなの体操」風として公開します。

           条件として、多くの部分で首の回転とハンドの開いたり、閉じたりしていますので、サーボ番号(10番:首、9番、左手、15番:右手)となっています。グリッパーは大きいので足にぶつかるかもしれませんので、注意して再調整してください。また、既存のleft_shiftとright_shiftのサブルーチンを利用してますので、一緒にプログラムあることが条件となります。

           ストレッチのような体操なので、動き事態はゆっくりしたモーションになっております。足の裏のすべり具合に寄っても倒れる箇所があるかもしれませんので、注意してください。参考にしてもらえればということです。

          minnano_taisou:
          '========== Radio-m-1
          SPEED 3
          MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
          FOR i=1 TO 2
          MOVE G24, 90, 63,162, 85,110,100,188, 30, 80, 60,100,100,188, 30, 80, 60,100,100, 90, 63,162, 85,110,100
          DELAY 400
          MOVE G24, 90, 63,162, 85,110,100,188, 30, 80,140,100,100,188, 30, 80,140,100,100, 90, 63,162, 85,110,100
          DELAY 400
          NEXT i
          MOVE G24, 90, 63,162, 85,110,100,188, 30, 80, 60,100,100,188, 30, 80, 60,100,100, 90, 63,162, 85,110,100
          SPEED 15
          FOR i=1 TO 8
          MOVE G24, 90, 63,162, 85,110,100,188, 30, 80,140,100,100,188, 30, 80,140,100,100, 90, 63,162, 85,110,100
          DELAY 400
          MOVE G24, 90, 63,162, 85,110,100,180, 30, 80, 60,100,100,180, 30, 80, 60,100,100, 90, 63,162, 85,110,100
          DELAY 400
          NEXT i
          SPEED 2
          FOR i=1 TO 2
          MOVE G24, 90, 65,162, 85,110,100, 90, 30, 80,140,100,100, 90, 30, 80,140,100,100, 90, 65,162, 85,110,100
          WAIT
          DELAY 1000
          MOVE G24, 90, 62,162, 94,110,100,188, 30, 80, 60,100,100,188, 30, 80, 60,100,100, 90, 62,162, 94,110,100
          WAIT
          DELAY 1000
          NEXT i
          '========== Radio-m-2
          SPEED 5
          FOR i=1 TO 4
          MOVE G24, 90, 65,162, 85,110,100,188, 30, 80, 60,100,100,188, 30, 80, 60,100,100, 90, 65,162, 85,110,100
          WAIT
          DELAY 1000
          MOVE G24, 90, 65,162, 85,110,100,100,188,100, 60,100,100,100,188,100, 60,100,100, 90, 65,162, 85,110,100
          WAIT
          DELAY 1000
          MOVE G24, 90, 65,162, 94,110,100,140, 17, 46,140,100,100,140, 17, 46,140,100,100, 90, 65,162, 94,110,100
          WAIT
          DELAY 1000
          NEXT i
          MOVE G24, 90, 65,162, 85,110,100,140, 30, 80,100,100,100,140, 30, 80,100,100,100, 90, 65,162, 85,110,100
          '========== Radio-m-3
          SPEED 7
          MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
          MOVE G24, 90, 65,162, 85,110,100,100, 55,188,130,100,100,100, 55,188,130,100,100, 90, 65,162, 85,110,100
          MOVE G24, 90, 80,145, 85,110,100,100, 40,188,130,100,100,100, 40,188,130,100,100, 90, 80,145, 85,110,100
          WAIT
          MOVE G24, 65, 80,145, 85,110,100,100, 20,188,130,100,100,100, 20,188,130,100,100, 65, 80,145, 85,110,100
          WAIT
          DELAY 500
          MOVE G24, 90, 80,145, 85,110,100,100, 40,188,130, 80,100,100, 40,188,130,100,100, 90, 80,145, 85,110,100
          DELAY 500
          MOVE G24, 90, 80,145, 85,110,100,100, 20,188,130, 80,100,100, 20,188,130,100,100, 90, 80,145, 85,110,100
          FOR i=1 TO 2
          DELAY 500
          MOVE G24,101,101, 99,112,110,100,100, 40,188,130, 80,100,100, 40,188,130,100,100, 81, 80,145, 87,110,100
          DELAY 500
          MOVE G24,101,101, 99,112,110,100,100, 20,188,130, 80,100,100, 20,188,130,100,100, 81, 80,145, 87,110,100
          NEXT i
          DELAY 500
          MOVE G24, 65, 80,145, 85,110,100,100, 20,188,130,100,100,100, 20,188,130,100,100, 65, 80,145, 85,110,100
          WAIT
          FOR i=1 TO 2
          DELAY 500
          MOVE G24, 81, 80,145, 87,110,100,100, 40,188,130,120,100,100, 40,188,130,100,100,101,101, 99,112,110,100
          DELAY 500
          MOVE G24, 81, 80,145, 87,110,100,100, 20,188,130,120,100,100, 20,188,130,100,100,101,101, 99,112,110,100
          NEXT i
          DELAY 500
          '========== Radio-m-4
          SPEED 3
          MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
          MOVE G24, 90, 65,162, 85,110,100, 75, 25, 67,140,100,100, 75, 25, 67,140,100,100, 90, 65,162, 85,110,100
          FOR i=1 TO 4
          MOVE G24, 90, 65,162, 85,110,100, 75, 25, 67,140,140,100, 75, 25, 67,140,100,100, 90, 65,162, 85,110,100
          WAIT
          DELAY 800
          MOVE G24, 90, 65,162, 85,110,100, 75, 25, 67,140, 60,100, 75, 25, 67,140,100,100, 90, 65,162, 85,110,100
          WAIT
          DELAY 800
          NEXT i
          '========== Radio-m-5
          SPEED 5
          MOVE G24, 90, 80,145, 85,110,100,100, 40,188,130,100,100,100, 40,188,130,100,100, 90, 80,145, 85,110,100
          DELAY 500
          FOR i=1 TO 2
          MOVE G24,101,101, 99,112,110,100,100, 40,188,130, 80,100,100, 40,188,130,100,100, 81, 80,145, 87,110,100
          WAIT
          MOVE G24,101,101, 99,112,110,100,100, 20,188,130, 80,100,100, 20,188,130,100,100, 81, 80,145, 87,110,100
          WAIT
          NEXT i
          MOVE G24, 65, 48,167, 89,117,100,187, 15, 80,100,140,100,100, 35,188, 50,100,100, 90, 65,162, 85,106,100
          WAIT
          DELAY 1000
          FOR i=1 TO 2
          MOVE G24, 81, 80,145, 87,110,100,100, 40,188,130,120,100,100, 40,188,130,100,100,101,101, 99,112,110,100
          WAIT
          MOVE G24, 81, 80,145, 87,110,100,100, 20,188,130,120,100,100, 20,188,130,100,100,101,101, 99,112,110,100
          WAIT
          NEXT i
          MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          WAIT
          DELAY 1000
          '========== Radio-m-6
          SPEED 5
          MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          WAIT
          FOR j=1 TO 2
          DELAY 500
          MOVE G6A, 98, 38, 147, 135, 102, 100
          MOVE G6D,100, 116, 106, 98, 102, 100
          WAIT
          DELAY 200
          MOVE G6B,188, 30, 80, 100, 100,
          MOVE G6C,188, 30, 80, 100, ,
          MOVE G6B,188, 30, 31, 130, 100,
          MOVE G6C,188, 30, 31, 130, ,
          WAIT
          DELAY 400
          MOVE G6A, 98, 38, 147, 135, 102, 100
          MOVE G6D,100, 116, 106, 98, 102, 100
          WAIT
          MOVE G6B,188, 22, 100, 130, 100,
          MOVE G6C,188, 22, 100, 130, ,
          WAIT
          MOVE G6A,100, 40, 140, 146, 102, 100
          MOVE G6D,100, 120, 112, 81, 102, 100
          MOVE G6B,188, 100, 103, 130, 100,
          MOVE G6C,188, 100, 102, 130, ,
          DELAY 1000
          MOVE G24,100, 64,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          WAIT
          DELAY 1000
          FOR i=1 TO 2
          MOVE G6A,100, 116, 56, 140, 100, 100
          MOVE G6B,155, 45, 40, 130, 100,
          MOVE G6C,155, 45, 40, 130, ,
          MOVE G6D,100, 116, 56, 140, 100, 100
          WAIT
          DELAY 400
          MOVE G6A,100, 116, 56, 150, 100, 100
          MOVE G6D,100, 116, 56, 150, 100, 100
          MOVE G6B,155, 50, 45, 130, 100,
          MOVE G6C,155, 50, 45, 130, ,
          WAIT
          DELAY 400
          NEXT i
          NEXT j
          MOVE G6B,100, 30, 80, 100, ,
          MOVE G6C,100, 30, 80, 100, ,
          DELAY 1000
          MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 500
          '========== Radio-m-7
          SPEED 6
          MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          FOR i=1 TO 2
          MOVE G24,100, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24,100, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24, 90, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24, 90, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          NEXT i
          GOSUB left_shift
          DELAY 600
          MOVE G24,100, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24,100, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 500
          GOSUB left_shift
          DELAY 600
          FOR i=1 TO 2
          MOVE G24,100, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24,100, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24, 90, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24, 90, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          NEXT i
          GOSUB right_shift
          DELAY 600
          MOVE G24,100, 67,162, 82,100,100, 60, 18, 93,100,100,100,140, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24,100, 67,162, 82,100,100,140, 18, 93,100,100,100, 60, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          GOSUB right_shift
          DELAY 600
          '========== Radio-m-8
          MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          FOR i = 1 TO 2
          MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          SPEED 6
          MOVE G24,100, 67,162, 82,100,100,180, 14,100,100,100,100,179, 14,100,100,100,100,100, 67,162, 82,100,100
          MOVE G24,100, 67,162, 82,100,100,180,100,100,100,100,100,180,100,100,100,100,100,100, 67,162, 82,100,100
          SPEED 5
          MOVE G24, 92, 67,162, 82, 97,100,105,180,100,100,100,100,105,180,100,100,100,100, 92, 65,162, 82, 97,100
          MOVE G24,100, 67,162, 82,100,100,105, 20,100,100,100,100,105, 20,100,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          MOVE G24,100, 67,162, 82,100,100,100, 20, 93,100,100,100,100, 20, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          SPEED 3
          MOVE G24,100, 62,162, 82,100,100,140, 18,100,100,100,100,140, 20,100,100,100,100,100, 62,162, 82,100,100
          MOVE G24,100, 62,162, 82,100,100,140, 10, 55,100,100,100,140, 10, 55,100,100,100,100, 62,162, 82,100,100
          MOVE G24,100, 62,162, 82,100,100,140, 18,100,100,100,100,140, 18,100,100,100,100,100, 62,162, 82,100,100
          MOVE G24,100, 67,162, 82,100,100, 70, 20, 93, 70,100,100, 70, 20, 93, 70,100,100,100, 67,162, 82,100,100
          WAIT
          DELAY 800
          MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
          DELAY 200
          NEXT i
          '==========rei
          DELAY 1500
          SPEED 7
          MOVE G24,100, 60,135,145,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 60,135,145,100,100
          WAIT
          DELAY 800
          MOVE G24,100, 67,162, 86,100,100,102, 18, 93,100,100,100,102, 18, 93,100,100,100,100, 67,162, 86,100,100
          RETURN
          0

            ラジオ体操第2のモーション

             BOQさんのラジオ体操のモーションに刺激されて、ラジオ体操第1に続いてラジオ体操第2のモーションを作成しました。まだ、荒削りですが、一応、一通り最後までできました。
             モーションの一部に、私のRZ-1固有のサーボをコントロールしていますが、ハンドと首のモーションです。無視されて問題ないでしょう。また、赤LEDのコマンドも入っていますが、これもそのままでも問題ないでしょう。

            参考になれば、ご活用ください。

            '========== Radio-1
            MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
            DELAY 200

            FOR i = 1 TO 8
            SPEED 10
            MOVE G24,100, 84,120,115,100,100,100, 20, 85,100,100, ,100, 20, 85,100,100, ,100, 84,120,115,100,100
            MOVE G24, 80, 67,162, 82,100,100,100, 60, 30,100,100, ,100, 60, 30,100,100, , 80, 67,162, 82,100,100
            SPEED 14
            MOVE G24,100, 84,120,115,100,100,100, 60, 30,100,100, ,100, 60, 30,100,100, ,100, 84,120,115,100,100
            NEXT i
            MOVE G24,100, 68,162, 82,100,100,102, 18, 93,100,100,100,102, 18, 93,100,100,100,100, 68,162, 82,100,100
            DELAY 400
            '========== Radio-2
            FOR i = 1 TO 4
            SPEED 8
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24, 85, 62,162, 84,100,100,180, 10, 55,100,100,100,180, 10, 55,100,100,100, 85, 62,162, 84,100,100
            SPEED 12
            MOVE G24, 90, 90,115,102,100,100,180, 10, 55,100,100,100,180, 10, 55,100,100,100, 90, 90,115,102,100,100
            MOVE G24,100, 95,115,102,100,100,140, 10, 55,100,100,100,140, 10, 55,100,100,100,100, 95,115,102,100,100
            MOVE G24,100, 67,162, 84,100,100,140,105,100,100,100,100,140,105,100,100,100,100,100, 67,162, 84,100,100
            MOVE G24, 90, 67,162, 84,100,100,100,170,115,100,100,100,100,170,115,100,100,100, 90, 67,162, 84,100,100
            DELAY 400
            MOVE G24,100, 84,120,115,100,100,100, 70,186,140,100,100,100, 70,186,140,100,100,100, 84,120,115,100,100
            MOVE G24, 90, 67,162, 84,100,100,100,170,115,100,100,100,100,170,115,100,100,100, 90, 67,162, 84,100,100
            DELAY 400
            MOVE G24,100, 84,120,115,100,100,100, 70,186,140,100,100,100, 70,186,140,100,100,100, 84,120,115,100,100
            MOVE G24, 90, 67,162, 84,100,100,100,170,115,100,100,100,100,170,115,100,100,100, 90, 67,162, 84,100,100
            DELAY 200
            NEXT i
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            '========== Radio-3
            DELAY 500
            FOR i = 1 TO 4
            SPEED 10
            MOVE G24,100, 72,145, 93,100,100,188, 30, 80,100,100,100,188, 30, 80,100,100,100,100, 72,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,188, 95,100,100,100,100,188, 95,100,100,100,100,100, 76,145, 93,100,100
            MOVE G24,100, 72,145, 93,100,100,188, 30, 80,100,100,100,188, 30, 80,100,100,100,100, 72,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            SPEED 12
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24,100, 72,145, 93,100,100,188, 30, 80,100,100,100,188, 30, 80,100,100,100,100, 72,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,188, 95,100,100,100,100,188, 95,100,100,100,100,100, 76,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 95,100,100,100,100,100, 95,100,100,100,100,100, 76,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            DELAY 700
            NEXT i
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            '========== Radio-4
            SPEED 5
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100
            DELAY 500
            FOR i = 1 TO 4
            SPEED 5
            MOVE G24, 90, 65,162, 85,110,100,140, 25, 65,100,100,100,140, 25, 65,100,100,100, 90, 65,162, 85,110,100
            MOVE G24, 90, 65,162, 85,110,100,140, 20, 35,100,100,100,140, 20, 35,100,100,100, 90, 65,162, 85,110,100
            DELAY 250
            MOVE G24, 90, 65,162, 85,110,100,147, 95,100,100,100,100,147, 95,100,100,100,100, 90, 65,162, 85,110,100
            DELAY 300
            MOVE G24, 90, 65,162, 85,110,100,140, 20, 35,100,100,100,140, 20, 35,100,100,100, 90, 65,162, 85,110,100
            DELAY 300
            MOVE G24, 90, 95,150, 50,110,100,120,125,115,100,100,100,120,125,115,100,100,100, 90, 95,150, 50,110,100
            DELAY 950
            NEXT i
            MOVE G24, 90, 65,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 65,162, 85,110,100
            '========== Radio-5
            DELAY 500
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            FOR i = 1 TO 2
            SPEED 7
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            SPEED 8
            MOVE G24, 90, 67,162, 85,110,100,106, 70, 23,120,100,100, 90,150,140,100,100,100, 90, 67,152, 85,110,100
            MOVE G24,100,140, 67,107,120,100, 95, 70, 23,120,100,100, 94,187,140,100,100,100, 75, 93,132, 85, 99,100
            DELAY 500
            SPEED 7
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            NEXT i

            SPEED 14
            FOR i = 1 TO 2
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100
            MOVE G24, 90, 67,162, 85,110,100,103,105,100,100,100,100,103,105,100,100,100,100, 90, 67,162, 85,110,100
            NEXT i
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100

            DELAY 500
            FOR i = 1 TO 2
            SPEED 7
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            SPEED 8
            MOVE G24, 90, 67,152, 85,110,100, 90,150,140,110,100,100,106, 70, 23,120,100,100, 90, 67,162, 85,110,100
            MOVE G24, 75, 93,132, 85, 99,100, 94,187,140,100,100,100, 95, 70, 23,120,100,100,100,140, 67,110,120,100
            DELAY 500
            SPEED 7
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            NEXT i

            SPEED 14
            FOR i = 1 TO 2
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100
            MOVE G24, 90, 67,162, 85,110,100,103,105,100,100,100,100,103,105,100,100,100,100, 90, 67,162, 85,110,100
            NEXT i
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100

            DELAY 500
            FOR i = 1 TO 2
            SPEED 7
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            SPEED 8
            MOVE G24, 90, 67,162, 85,110,100,106, 70, 23,120,100,100, 90,150,140,100,100,100, 90, 67,152, 85,110,100
            MOVE G24,100,140, 67,107,120,100, 95, 70, 23,120,100,100, 94,187,140,100,100,100, 75, 93,132, 85, 99,100
            DELAY 500
            SPEED 7
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            NEXT i

            SPEED 14
            FOR i = 1 TO 2
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100
            MOVE G24, 90, 67,162, 85,110,100,103,105,100,100,100,100,103,105,100,100,100,100, 90, 67,162, 85,110,100
            NEXT i
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100

            FOR i = 1 TO 2
            SPEED 7
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            SPEED 8
            MOVE G24, 90, 67,152, 85,110,100, 90,150,140,110,100,100,106, 70, 23,120,100,100, 90, 67,162, 85,110,100
            MOVE G24, 75, 93,132, 85, 99,100, 94,187,140,100,100,100, 95, 70, 23,120,100,100,100,140, 67,110,120,100
            DELAY 500
            SPEED 7
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100
            NEXT i
            SPEED 4
            MOVE G24, 90, 67,162, 85,110,100,106, 25, 90,100,100,100,106, 25, 90,100,100,100, 90, 67,162, 85,110,100

            SPEED 14
            FOR i = 1 TO 2
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100
            MOVE G24, 90, 67,162, 85,110,100,103,105,100,100,100,100,103,105,100,100,100,100, 90, 67,162, 85,110,100
            NEXT i
            MOVE G24, 90, 67,162, 85,110,100,103, 25, 95,100,100,100,103, 25, 95,100,100,100, 90, 67,162, 85,110,100
            'Red-LED
            PWM 2,100
            '========== Radio-6
            DELAY 500
            SPEED 8
            MOVE G24, 90, 65,162, 85,110,100,188, 25, 90,100,100,100,188, 25, 90,100,100,100, 90, 65,162, 85,110,100
            FOR i = 1 TO 4
            SPEED 8
            MOVE G24, 90, 31,185,145,110,100, 70, 30, 80,100,100,100, 70, 30, 80,100,100,100, 90, 31,185,144,110,100
            WAIT
            DELAY 200
            SPEED 4
            MOVE G24, 90, 97,135, 55,110,100,188, 25, 95,100,100,100,188, 25, 95,100,100,100, 90, 97,135, 55,110,100
            WAIT
            DELAY 500
            NEXT i
            '========== Radio-7
            SPEED 8
            MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
            FOR i = 1 TO 4
            MOVE G24, 90, 60,162, 85,110,100,188, 30, 80,100,100,100,188, 30, 80,100,100,100, 90, 60,162, 85,110,100
            MOVE G24, 90, 63,162, 85,110,100,188, 20, 45,100,160,100,188,100, 85,100,100,100, 90, 63,162, 85,110,100
            WAIT
            MOVE G24, 90, 60,162, 85,110,100,188, 30, 80,100,100,100,188, 30, 80,100,100,100, 90, 60,162, 85,110,100
            MOVE G24, 90, 63,162, 85,110,100,188,100, 85,100, 40,100,188, 20, 45,100,100,100, 90, 63,162, 85,110,100
            WAIT
            MOVE G24, 90, 64,162, 85,110,100,150, 30, 80,100,100,100,130, 30, 80,100,100,100, 90, 64,162, 85,110,100
            MOVE G24, 90, 64,162, 85,110,100,150, 20, 45,100,100,100, 80, 15,130,100,100,100, 90, 64,162, 85,110,100
            WAIT
            MOVE G24, 90, 64,162, 85,110,100,130, 30, 80,100,100,100,150, 30, 80,100,100,100, 90, 64,162, 85,110,100
            MOVE G24, 90, 64,162, 85,110,100, 80, 15,130,100,100,100,150, 20, 45,100,100,100, 90, 64,162, 85,110,100
            WAIT
            NEXT i
            MOVE G24, 90, 60,162, 85,110,100,130, 30, 80,100,100,100,130, 30, 80,100,100,100, 90, 60,162, 85,110,100
            MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
            'Red-LED
            PWM 2,150
            '========== Radio-8
            SPEED 5
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24, 82, 84,121,108,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145,100,100,100
            DELAY 400
            FOR i=1 TO 2
            SPEED 6
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 82, 84,121,108,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 82, 84,121,108,100,100
            DELAY 200
            MOVE G24, 82, 84,121,108,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145,100,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24, 82, 84,121,108,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145,100,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            SPEED 7
            DELAY 200
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 82, 84,121,108,100,100
            MOVE G24, 82, 84,121,108,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145,100,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 82, 84,121,108,100,100
            MOVE G24, 82, 84,121,108,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145,100,100,100
            NEXT i
            '========== Radio-9
            SPEED 7
            FOR i = 1 TO 2
            MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
            DELAY 200
            MOVE G24, 90, 65,162, 85,110,100,188, 90, 95,100,100,100,188, 30, 40,100,100,100, 90, 65,162, 85,110,100
            MOVE G24, 90, 65,162, 85,110,100,188, 90, 95,100,100,100,188, 15, 40,100,100,100, 90, 65,162, 85,110,100
            DELAY 400
            MOVE G24, 90, 35,175,136,110,100,145, 30, 80,100,100,100,145, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,188, 15, 40,100,100,100,188, 40, 85,100,100,100, 90, 35,175,136,110,100
            WAIT
            MOVE G24, 90, 65,162, 85,110,100,188, 15, 40,100,100,100,188, 40, 85,100,100,100, 90, 65,162, 85,110,100
            MOVE G24, 90, 65,162, 85,110,100,188, 40, 85,100,100,100,188, 15, 40,100,100,100, 90, 65,162, 85,110,100
            WAIT
            MOVE G24, 90, 35,175,136,110,100,188, 40, 85,100,100,100,188, 15, 40,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 30,175,145,110,100,188, 40, 85,100,100,100,188, 15, 40,100,100,100, 90, 30,175,145,110,100
            MOVE G24, 90, 35,175,136,110,100,188, 40, 85,100,100,100,188, 15, 40,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,145, 40, 85,100,100,100,145, 15, 40,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,188, 40, 85,100,100,100,188, 15, 40,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,160, 30, 80,100,100,100,160, 30, 80,100,100,100, 90, 35,175,136,110,100
            WAIT
            DELAY 400
            MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
            DELAY 200
            MOVE G24, 90, 65,162, 85,110,100,188, 30, 40,100,100,100,188, 90, 95,100,100,100, 90, 65,162, 85,110,100
            MOVE G24, 90, 65,162, 85,110,100,188, 15, 40,100,100,100,188, 90, 95,100,100,100, 90, 65,162, 85,110,100
            DELAY 400
            MOVE G24, 90, 35,175,136,110,100,145, 30, 80,100,100,100,145, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,188, 40, 85,100,100,100,188, 15, 40,100,100,100, 90, 35,175,136,110,100
            WAIT
            MOVE G24, 90, 65,162, 85,110,100,188, 40, 85,100,100,100,188, 15, 40,100,100,100, 90, 65,162, 85,110,100
            MOVE G24, 90, 65,162, 85,110,100,188, 15, 40,100,100,100,188, 40, 85,100,100,100, 90, 65,162, 85,110,100
            WAIT
            MOVE G24, 90, 35,175,136,110,100,188, 15, 40,100,100,100,188, 40, 85,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 30,175,145,110,100,188, 15, 40,100,100,100,188, 40, 85,100,100,100, 90, 30,175,145,110,100
            MOVE G24, 90, 35,175,136,110,100,188, 15, 40,100,100,100,188, 40, 85,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,145, 15, 40,100,100,100,145, 40, 85,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,188, 15, 40,100,100,100,188, 40, 85,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,160, 30, 80,100,100,100,160, 30, 80,100,100,100, 90, 35,175,136,110,100
            WAIT
            DELAY 400
            NEXT i
            MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
            'Red-LED
            PWM 2,200

            '========== Radio-10
            DELAY 500
            MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
            FOR i=1 TO 2
            SPEED 10
            MOVE G24, 90, 35,175,136,110,100, 50, 30, 80,100,100,100, 50, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,188, 30, 80,100,100,100,188, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100, 50, 30, 80,100,100,100, 50, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,150, 30, 80,100,100,100,150, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100, 50, 30, 80,100,100,100, 50, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,188, 30, 80,100,100,100,188, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100, 50, 30, 80,100,100,100, 50, 30, 80,100,100,100, 90, 35,175,136,110,100
            MOVE G24, 90, 35,175,136,110,100,150, 30, 80,100,100,100,150, 30, 80,100,100,100, 90, 35,175,136,110,100
            SPEED 5
            MOVE G24, 90, 65,162, 85,110,100,140, 30, 80,100,100,100,140, 30, 80,100,100,100, 90, 65,162, 85,110,100
            WAIT
            DELAY 400
            NEXT i
            MOVE G24, 90, 65,162, 85,110,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 90, 65,162, 85,110,100
            '========== Radio-11
            DELAY 500
            SPEED 8
            FOR i=1 TO 2
            MOVE G24, 90, 65,162, 85,110,100,100,100,100,100,100,100,100,100,100,100,100,100, 90, 65,162, 85,110,100
            WAIT
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24, 80, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 80, 76,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24, 80, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100, 80, 76,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            NEXT i
            'Red-LED
            PWM 2,250
            '========== Radio-12
            SPEED 6
            MOVE G24,100, 67,162, 82,100,100,102, 18, 93,100,100,100,102, 18, 93,100,100,100,100, 68,162, 85,100,100
            DELAY 500
            FOR i = 1 TO 8
            SPEED 8
            MOVE G24,100, 62,162, 82,100,100,180, 18,100,100,100,100,180, 18,100,100,100,100,100, 62,162, 82,100,100
            SPEED 10
            MOVE G24, 95, 60,162, 82,100,100,180, 10, 55,100,100,100,180, 10, 55,100,100,100, 95, 60,162, 82,100,100
            SPEED 16
            MOVE G24, 95, 90,115,102,100,100,180, 10, 55,100,100,100,180, 10, 55,100,100,100, 95, 90,115,102,100,100
            SPEED 10
            MOVE G24,100, 95,115,102,100,100,140, 10, 55,100,100,100,140, 10, 55,100,100,100,100, 95,115,102,100,100
            SPEED 8
            MOVE G24,100, 67,162, 82,100,100,140,105,100,100,100,100,140,105,100,100,100,100,100, 67,162, 82,100,100
            NEXT i
            MOVE G24,100, 74,140,103,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 74,140,103,100,100
            '========== Radio-13
            DELAY 500
            MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
            DELAY 200
            FOR i = 1 TO 2
            MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
            DELAY 200
            SPEED 6
            MOVE G24,100, 67,162, 82,100,100,180, 14,100,100,100,100,179, 14,100,100,100,100,100, 67,162, 82,100,100
            MOVE G24,100, 67,162, 82,100,100,180,100,100,100,100,100,180,100,100,100,100,100,100, 67,162, 82,100,100
            SPEED 5
            MOVE G24, 92, 67,162, 82, 97,100,105,180,100,100,100,100,105,180,100,100,100,100, 92, 65,162, 82, 97,100
            MOVE G24,100, 67,162, 82,100,100,105, 20,100,100,100,100,105, 20,100,100,100,100,100, 67,162, 82,100,100
            DELAY 200
            MOVE G24,100, 67,162, 82,100,100,100, 20, 93,100,100,100,100, 20, 93,100,100,100,100, 67,162, 82,100,100
            DELAY 200
            SPEED 3
            MOVE G24,100, 62,162, 82,100,100,140, 18,100,100,100,100,140, 20,100,100,100,100,100, 62,162, 82,100,100
            MOVE G24,100, 62,162, 82,100,100,140, 10, 55,100,100,100,140, 10, 55,100,100,100,100, 62,162, 82,100,100
            MOVE G24,100, 62,162, 82,100,100,140, 18,100,100,100,100,140, 18,100,100,100,100,100, 62,162, 82,100,100
            MOVE G24,100, 67,162, 82,100,100, 70, 20, 93, 70,100,100, 70, 20, 93, 70,100,100,100, 67,162, 82,100,100
            WAIT
            DELAY 800
            MOVE G24,100, 67,162, 82,100,100,100, 18, 93,100,100,100,100, 18, 93,100,100,100,100, 67,162, 82,100,100
            DELAY 200
            NEXT i
            'Red-LED
            PWM 2,0
            '==========rei
            DELAY 500
            SPEED 8
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100,100, 30, 80,100,100,100,100, 76,145, 93,100,100
            MOVE G24,100, 76,145, 93,100,100,100, 30, 80,100,100,100, 95,160,151,100,100,100,100, 76,145, 93,100,100
            DELAY 500
            SPEED 3
            MOVE G24, 96, 75,145, 93,107,100,100, 30, 80,100,100,100,176, 19, 13,100,100,100,110, 75,145, 93, 92,100
            MOVE G24,102, 75,145, 93,101,100,100, 30, 80,100,100,100,158, 36, 24,100,100,100,103, 75,145, 93, 99,100
            SPEED 2
            MOVE G24,102, 75,121,144,101,100,100, 59,117,100,100,100,158, 18, 17,100,100,100,103, 75,116,148, 99,100
            DELAY 1200
            SPEED 5
            MOVE G24,102, 75,121,144,101,100,100, 25, 92,100,100,100,158, 33, 49,100,100,100,103, 75,116,148, 99,100
            GOSUB standard_pose
            RETURN
            '================================================
            0

              ラジオ体操のモーションを見つける

               ROBOZAK公式ホームページのマスターズ掲示板に、BOQさんがラジオ体操第1のモーションを公開されております。

               早速、このモーションを組み込み動作させて見ました。私のRZ-1は重いハンドを到着しているので、腕の前後に振る動作の時のバランスの微調を行いました。このモーションで特に重大な問題となる所はなく、どなたでも安心して動作させることができると思います。

               V850を利用してラジオ体操の音楽でも流れるようにチャレンジしてみましたが、マイコン内蔵のメモリだけでは記憶容量が不足して全部は入りませんでした。確かに音楽を流しながらモーションが同期して動くと素晴らしいのですが、当分は無理のようです。
              0

                足踏みモーション

                 足踏みモーションを作成してみましたが、スタートだけはバランスがうまく取れないのでスロースタートにしてあります。まだ、体が左右に振れてしまうので、完成度としてまだまだというレベルでしょうか。

                 足踏みのモーションは写真ではあまり動きが分からず面白くありませんですね。少し左足が浮いているのが分かる程度です。

                '================================================
                ashibumi:
                SPEED 12
                MOVE G6A, 95, 83, 128, 101, 103, 96
                MOVE G6D,108, 76, 145, 95, 102, 100
                WAIT
                GOSUB standard_pose
                MOVE G6A, 95, 83, 128, 101, 103, 96
                MOVE G6D,108, 76, 145, 95, 102, 100
                WAIT
                GOSUB standard_pose

                SPEED 20
                FOR i=0 TO 20
                MOVE G6A, 90, 88, 113, 113, 105, 96
                MOVE G6D,108, 76, 145, 98, 100, 100
                WAIT
                GOSUB standard_pose
                MOVE G6D, 90, 88, 113, 113, 105, 96
                MOVE G6A,108, 76, 145, 98, 100, 100
                WAIT
                GOSUB standard_pose
                NEXT i
                RETURN
                '================================================
                0

                  高速な方向転換モーション

                   偶然、出来上がった高速方向転換で、その場所で1回転するモーションです。ロボコンなどで俊敏なロボットが動いているのを見て作成してみましたが、意外と簡単にできるものでした。但し、床面は平らな板の上でないと滑らないのでうまく動作しないと思います。

                   距離センサーで障害物が近づくと高速で向きを変えることも出来ますね。

                  〔追伸1〕
                   畳の上でも、一応、方向転換はしましたが、向きは半分ぐらいになってしまいます。FOR文の回数を減らして、横に向くぐらいは可能のようです。


                  〔追伸2〕
                   単純に、サーボの組を入れ替えると、左回りと右回りになりました。FOR文の回数はそれぞれで調整してください。また、リモコンのボタンで1回ごとにする場合はFOR i=0 TO 5とNEXT iは削除してください。

                  '================================================
                  maware_L:
                  SPEED 6
                  MOVE G6A, 94, 76, 145, 93, 107, 96
                  MOVE G6D, 94, 76, 145, 93, 107, 100
                  WAIT

                  FOR i=0 TO 5
                  MOVE G6A, 94, 53, 145, 116, 107, 96
                  MOVE G6D, 94, 105, 145, 66, 107, 100
                  WAIT

                  GOSUB standard_pose
                  NEXT i

                  RETURN
                  '================================================
                  '================================================
                  maware_R:
                  SPEED 6
                  MOVE G6D, 94, 76, 145, 93, 107, 96
                  MOVE G6A, 94, 76, 145, 93, 107, 100
                  WAIT

                  FOR i=0 TO 5
                  MOVE G6D, 94, 53, 145, 116, 107, 96
                  MOVE G6A, 94, 105, 145, 66, 107, 100
                  WAIT

                  GOSUB standard_pose
                  NEXT i

                  RETURN
                  '================================================
                  0

                    サイズを自動認識して物を掴むモーション

                     物を掴むモーションを検討しておりましたが、一応、完成しました。過電流検出はハード的に面倒なので、結局、プログラムのみで対応させました。原理は、一度読込んだサーボ回転角を一時記憶して、次に読込んだサーボ回転角と同じ場合にはfor文から抜け出すというように追加してプログラムを改良しました。
                     さらに、握りなおす時に少し弱く(回転角で4)握るようにしました。これは強すぎず弱すぎずという程度に試行錯誤で決めました。これでサーボが壊れることはないでしょう。

                    '================================================
                    left_hand:

                    '-- SETTING & MOTOR LIMIT --
                    DIM A as BYTE
                    DIM B as BYTE
                    DIM C as BYTE
                    '$limit 9,60,140

                    SPEED 10
                    MOVE G6B,160, 30, 80, 60, 100, 100
                    WAIT

                    FOR i=1 TO 20
                    A = i*4+60
                    SERVO 9,A
                    DELAY 20
                    B=MOTORIN(9)
                    IF C = B THEN '←修正箇所
                    i =20
                    ENDIF
                    C = B
                    NEXT i
                    B=B-4
                    SPEED 20
                    MOVE G6B,160, 30, 80, 80, 100 ,
                    DELAY 2000
                    SPEED 3
                    SERVO 9,B
                    DELAY 1000
                    SPEED 8
                    MOVE G6B,100, 30, 80, , ,

                    RETURN
                    '================================================

                    miconoさんからのアドバイスで追加修正しましたが、誤動作することがあったので元に戻しました。
                    0


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