1. SPL Programming – While Loop Pattern
Simple Mission – Maze Explorer
Young Joon Kim

2. Topics
Basic SPL Programming Pattern
While Loop Pattern

3. Basic SPL Programming Pattern

4. Basic SPL Programming Pattern
Start with basic Maze environment script (script/Maze3.txt)

5. Basic SPL Programming Pattern
Add “WaitForServiceCreation” for the lrf1

6. Basic SPL Programming Pattern
Add script to make robot go forwards

7. Basic SPL Programming Pattern
Add “While” Loop having 1sec interval

8. Basic SPL Programming Pattern
Add variable to keep the distance value

9. Basic SPL Programming Pattern
Add “if” conditions as follows

10. Basic SPL Programming Pattern
Add scripts to make robot turn right 90 degrees

11. Basic SPL Programming Pattern
Save script as “script/maze4.txt”

12. Basic SPL Programming Pattern
Executed result

13. Basic SPL Programming Pattern
Execute script

14. Basic SPL Programming Pattern
Executed result

15. While Loop Pattern

16. While Loop Pattern
Start with while loop having 200 milliseconds interval

17. While Loop Pattern
Add variables to keep distances

18. While Loop Pattern
Add “if” condition as follows

19. While Loop Pattern
Add “else” condition as follows

20. While Loop Pattern
Completed script

21. While Loop Pattern
Save script as “script/maze5.txt”

22. While Loop Pattern
Executed result

23. While Loop Pattern
Executed result

24. While Loop Pattern
Executed result