'****************************************
'***** 메탈파이터 기초 프로그램 *******
'****************************************

'******* 변수선언 ***********************
DIM A AS BYTE
DIM I 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

'***** 메인 반복루틴 **************
MAIN:

    ERX 4800,A,MAIN

    IF A = 1 THEN
        GOSUB 팔흔들기1
    ELSEIF A = 2 THEN
        GOSUB 팔흔들기2
    ELSE
        MUSIC "F"  
    ENDIF

    GOTO MAIN
    '***************************************
    '***************************************
    '***************************************
팔흔들기1:
    HIGHSPEED SETON

    SPEED 15
    FOR I = 1 TO 5
        MOVE G6A,100,  76, 145,  93, 100, 100
        MOVE G6D,100,  76, 145,  93, 100, 100
        MOVE G6B,180,  40,  80
        MOVE G6C,180,  40,  80
        WAIT

        MOVE G6A,100,  76, 145,  93, 100, 100
        MOVE G6D,100,  76, 145,  93, 100, 100
        MOVE G6B,20,  40,  80
        MOVE G6C,20,  40,  80
        WAIT 
    NEXT I
    GOSUB 기본자세
    HIGHSPEED SETOFF

    RETURN
    '***************************************
팔흔들기2:
    HIGHSPEED SETON
    SPEED 15
    FOR I = 1 TO 5
        MOVE G6A,100,  76, 145,  96, 100, 100
        MOVE G6D,100,  76, 145,  96, 100, 100
        MOVE G6B,180,  40,  80
        MOVE G6C,180,  40,  80
        WAIT

        MOVE G6A,100,  76, 145,  90, 100, 100
        MOVE G6D,100,  76, 145,  90, 100, 100
        MOVE G6B,20,  40,  80
        MOVE G6C,20,  40,  80
        WAIT 
    NEXT I
    GOSUB 기본자세
    HIGHSPEED SETOFF

    RETURN
    '***************************************
    '***************************************
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
    '************************************* 
차렷자세:
    MOVE G6A,100, 56, 182, 76, 100, 100
    MOVE G6D,100, 56, 182, 76, 100, 100
    MOVE G6B,100, 20, 90, 100, 100, 100
    MOVE G6C,100, 20, 90, 100, 100, 100
    WAIT
    RETURN
    '**************************************
앉은자세:

    MOVE G6A,100, 143,  28, 142, 100, 100
    MOVE G6D,100, 143,  28, 142, 100, 100
    MOVE G6B,100,  30,  80
    MOVE G6C,100,  30,  80
    WAIT
    RETURN
    '***************************************