1. My first robot programming - Simple “GoFor”
MSRDS First Beginner Course – STEP4
Young Joon Kim

2. “GoTo” Drive Commands GoFor Usages Range of each motor power values
Drive given duration time (milliseconds)
Usages
robotname.GoFor(left_power, right_power, duration)
Range of each motor power values
-1.0 (Max backwards) ~ 1.0 (Max forwards)
0: Stop the motor
Unit of duration time
milliseconds

3. Preparing basic environment

4. Preparing basic environment
Add a “Data” activity and “SPL Engine”
Type “Script/BasicEnv0.txt” in the “Data” activity

5. “GoFor” command

6. “GoFor” command Add below diagrams
Drive a robot during 2 seconds with 0.5 motor power

7. “GoFor” command
Add diagrams to make a robot stop

8. “GoFor” command
Connect the end point of “SPL Drive” and “Data” activity
Connect

9. “GoFor” command
Select “ExecuteScript – Success” as follows

10. “GoFor” command
Run VPL diagram by pressing “F5” key or clicking “Start” icon

11. “GoFor” command
Execution result
Move during 2 seconds