:1000
PLAY:ACTION:STAND // Stand up
WAIT
PLAY:ACTION:CLIFF_DETECT_OFF //Turn off cliff detection mode
WAIT
DO
PLAY:ACTION:MOVE_HEAD:0:0 //Move head back to original position
WAIT
PLAY:ACTION:WALK:0:10000 //Go forward for 10000 mm
FOR:t:1:1000
IF:Distance:<:300:BREAK // If AIBO finds a wall or t=1000 then break
WAIT:1
NEXT
PLAY:ACTION:STOP_WALK // Stop walking
WAIT
PLAY:ACTION:MOVE_HEAD:90:0 // Move head to the left for 90 degrees
WAIT
PLAY:ACTION:MOVE_HEAD:-90:0// Move head to the right for 90 degrees
SET:dd:0
WHILE:Wait:>:0
SET:d:Distance // Distance to obstacle [mm]
SET:p:Head_Pan// Head: horizontal (left-right) angle [degrees]
IF:d:>:dd:THEN
SET:dd:d
SET:pan:p
ENDIF
WEND
VDUMP:dd
VDUMP:pan
IF:dd:<:300:THEN // No where to go (turn 180)
PLAY:ACTION:TURN:180
WAIT
ENDIF
PLAY:ACTION:MOVE_HEAD:pan:0 // Adjust direction
PLAY:ACTION:TURN:pan
WAIT
LOOP
Description:
AIBO will avoid obstacle and search a clear path to escape the maze as possible he can.