Nova の ラジコン化


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1、接 続 場 所

受 信 機 チャンネル番号 (By 双葉)
1 2 3 4
| | | |
2 3 6 7
マ イ コ ン A D ポ ー ト

JRはプログラム中に記載してあります。
小変更いけるはずです。現在、双葉を
使用中でJRの検証が出来ません。


2、操 作 方 法
スティックの位置
 左   右
715 715
4〇3 4〇3
826 826
左側が10の位
   右側が1の位

例:左スティックを上に倒し、右スティックを下に倒す。
プログラムのkey12のプログラムが実行される。(後に歩く)

左スティック上で、基本モーション
(右スティック 上=前に 下=後に・左右=横に・右下、左下=旋回)
左スティック下で、攻撃モーション(右スティを適当に動かしてみて!)
左スティック左で、起上りモーション(右スティを上下に)
左スティックで、モーションのカテゴリ・右スティックでモーション決定
見たいな使い方です。

*:下の行からコピペして下さい。  By hid0479
'******** RoboNova-1 Basic Template Plogram**********
DIM I AS BYTE
DIM RC1 AS BYTE
DIM RC2 AS BYTE
DIM RC3 AS BYTE
DIM RC4 AS BYTE
DIM RCDT AS BYTE
DIM RCDT1 AS BYTE
DIM RCDT2 AS BYTE

DIM MODE AS BYTE
DIM A AS BYTE

DIM CMODE AS BYTE
DIM CC AS BYTE
DIM MINPT AS BYTE

PTP SETON
PTP ALLON

'Motor 18-23 Set

'**No.1 ZERO*********************************
'Proto Blueframe
'Namikou model1
'ZERO G6A, 100,105, 98, 98,103,100 'hidari asi kubi ---nemoto
'ZERO G6B, 100,103,101,100,100,100 'hidari te mune --- tekubi
'ZERO G6C,  98, 99, 99,100,100,100 'migi   te mune --- tekubi
'ZERO G6D,  99,103,100, 97,102,100 'migi   asi asikubi ---nemoto

'Namikou H18_Dag_NEW_model
'ZERO G6A, 100,105, 93, 83, 99,100
'ZERO G6B, 100,111,104,100,100,100
'ZERO G6C,  98, 99, 99,100,100,100
'ZERO G6D,  99,106,100, 97,102,100

'Mr.Suzuki #1(Naoki Model)06/04/22_setup
'ZERO G6A, 102,102, 98,103, 99,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100, 98,100,100,100,100
'ZERO G6D, 100,104, 99,101,105,100

'Mr.Suzuki #1(Naoki Model)06/04/22_setup_No2
ZERO G6A, 101,103, 98,103, 99,100
ZERO G6B, 100,100,100,100,100,100
ZERO G6C, 100, 98,100,100,100,100
ZERO G6D, 100,105, 99,101,105,100

'Mr.Ootuka #1
'ZERO G6A, 102,105, 98,103,100,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100, 98, 97,100,100,100
'ZERO G6D,  98,104, 99,101,103,100

'DeA ColoredFrame #1
'ZERO G6A,  97,102, 98, 98, 99,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100, 98,100,100,100,100
'ZERO G6D,  98,111,98, 96,105,100

'**No.2 Zero
'ZERO G6A,  100,104, 99,98,100,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  100, 105,100, 100,102,100

'**No.3 Zero
'ZERO G6A,  99,104, 99,100,101,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  99, 102,100, 99,104,100

'**No.4 Zero
'ZERO G6A,  97,103, 98,100,101,100
'ZERO G6B, 100,103,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  100,103,100, 100,101,100

'**No.5 Zero
'ZERO G6A,  97,99, 100,100,101,100
'ZERO G6B, 100,102,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  97, 98,100, 100,101,100

'**No.6 Zero
'ZERO G6A,  100,100, 100,100,100,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  100, 100,100, 100,100,100

'**o.7 Zero
'ZERO G6A,  100,102, 99,100,102,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  98, 104,100, 100,101,100
'
'**No.8 Zero
'ZERO G6A,  99,103, 100,100,101,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  99,103,100, 100,101,100
'
'**No.9 Zero
'ZERO G6A,  99,100, 100,100,101,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D, 100,101,101, 100,100,100
'
'**No.10 Zero
'ZERO G6A,  99,101, 100,101,100,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  100, 100,101, 99,100,100

'**No.11 Zero
'ZERO G6A,  98,104, 100,99,102,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 102,100,100,100,100,100
'ZERO G6D,  100, 104,100, 100,100,100
'
'**No.12 Zero
'ZERO G6A,  99,100, 100,100,101,100
'ZERO G6B, 99,100,100,100,100,100
'ZERO G6C, 101,100,100,100,100,100
'ZERO G6D,  99, 104,101, 100,102,100

'**No.13 Zero
'ZERO G6A,  101,102, 99,100,98,100
'ZERO G6B, 99,100,100,100,100,100
'ZERO G6C, 100,100,100,100,100,100
'ZERO G6D,  100, 103,100, 100,110,100

'**No.14 Zero
'ZERO G6A,  100,102, 98,100,100,100
'ZERO G6B, 99,100,100,100,100,100
'ZERO G6C, 102,100,92,100,100,100
'ZERO G6D,  101, 102,100, 100,103,100

'**No.15 Zero
'ZERO G6A,  100,107, 95,99,101,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 101,100,100,100,100,100
'ZERO G6D,  100, 104,100, 100,101,100

'**No.16 Zero
'ZERO G6A,  99,100, 100,103,101,100
'ZERO G6B, 98,100,100,100,100,100
'ZERO G6C, 99,100,98,100,100,100
'ZERO G6D,  99, 102,101, 100,101,100

'**No.17 Zero & Reader
'ZERO G6A,  102,102, 100,99,101,100
'ZERO G6B, 100,100,100,100,100,100
'ZERO G6C, 100,100,96,100,100,100
'ZERO G6D,  100, 102,100, 102,102,100
'************************************************
'Proto BlueFrame
'DIR G6A,1,0,0,1,0,0 ' Dir 0-5 Motor
'DIR G6B,1,1,0,1,1,1 ' Dir 6-11 Motor
'DIR G6C,0,0,0,0,0,0 ' Dir 12-17 Motor
'DIR G6D,0,1,1,0,1,0

'DeA ColoredFrame
DIR G6A,1,0,0,1,0,0 ' Dir 0-5 Motor
DIR G6B,1,1,1,1,1,1 ' Dir 6-11 Motor
DIR G6C,0,0,0,0,0,0 ' Dir 12-17 Motor
DIR G6D,0,1,1,0,1,0

CMODE = 0
CC = 0

SPEED 15
HIGHSPEED SETON
GOSUB MOTOR_CALL
HIGHSPEED SETOFF
DELAY 1000
SPEED 5
GOSUB MOTOR_ON

GOSUB STDUP

'GOTO INIT_CONECT
GOTO MAIN

'************************************************
MOTOR_CALL:
A= AD(110)
SERVO 0,A
A= AD(111)
SERVO 1,A
A= AD(112)
SERVO 2,A
A= AD(113)
SERVO 3,A
A= AD(114)
SERVO 4,A
'**********
A= AD(116)
SERVO 6,A
A= AD(117)
SERVO 7,A
A= AD(118)
SERVO 8,A
A= AD(122)
SERVO 12,A
A= AD(123)
SERVO 13,A
A= AD(124)
SERVO 14,A
'**********
A= AD(128)
SERVO 18,A
A= AD(129)
SERVO 19,A
A= AD(130)
SERVO 20,A
A= AD(131)
SERVO 21,A
A= AD(132)
SERVO 22,A
RETURN
'************************************************
MOTOR_ON:
MOTOR G6A ' No.0~7 Motors
MOTOR G6B ' No.8~15 Motors
MOTOR G6C ' No.16~23 Motors
MOTOR G6D ' No.24~31 Motors
RETURN
'************************************************
MAIN:

MINPT = IN(11)
IF MINPT = 1 THEN
GOTO MAIN2
ELSE
CMODE = 1
DELAY 1000
CC=CC + 1
ON CC GOTO key0,key0,key11,key1,key2,key3,key4,key5,key7,key11,key74,key12,key12,key2

ENDIF

IF CC > 10 THEN
CC = 0
CMODE = 2
ENDIF

IF CMODE <2 THEN
GOTO MAIN
ELSE
GOTO CEND
ENDIF

GOTO MAIN

MAIN2:

RCDT = 0

SPEED 4
GOSUB RCGET

ON RCDT GOTO key0,key1,key2,key3,key4,key5,key6,key7,key8,key9,key10,key11,key12,key13,key14,key15,key16,key17,key18,key19,key20,key21,key22,key23,key24,key25,key26,key27,key28,key29,key30,key31,key32,key33,key34,key35,key36,key37,key38,key39,key40,key41,key42,key43,key44,key45,key46,key47,key48,key49,key50,key51,key52,key53,key54,key55,key56,key57,key58,key59,key60,key61,key62,key63,key64,key65,key66,key67,key68,key69,key70,key71,key72,key73,key74,key75,key76,key77,key78,key79,key80,key81,key82,key83,key84,key85,key86,key87,key88

GOTO MAIN

'************************************************
STDUP:
MOVE G6A,100,75,145,93,100,100 'hidari asi asikubi ---nemoto
MOVE G6D,100,75,145,93,100,100 'migi   asi asikubi ---nemoto
MOVE G6B,100,45,73,100,100,100 'hidari te mune --- tekubi
MOVE G6C,100,45,70,100,100,100 'migi   te mune --- tekubi
WAIT
mode = 0
RETURN
'*************************************************
RCGET:
DELAY 150
'FUTABA Mode
RC1 = RCIN(6)
RC2 = RCIN(3)
RC3 = RCIN(2)
RC4 = RCIN(7)


'JR Mode
' RC1 = RCIN(2)
' RC2 = RCIN(6)
' RC3 = RCIN(3)
' RC4 = RCIN(7)

IF RC2 < 160 AND RC2 > 30 THEN RC2 = 90
IF RC4 < 160 AND RC4 > 30 THEN RC4 = 90

IF RC2 > 160 THEN RC2 = 180
IF RC2 < 30 THEN RC2 = 0
IF RC4 > 160 THEN RC4 = 180
IF RC4 < 30 THEN RC4 = 0

IF RC2 = 90 AND RC4 = 90 THEN
RCDT1 = 0
ELSEIF RC2 = 180 AND RC4 = 90 THEN
RCDT1 = 1
ELSEIF RC2 =0 AND RC4 = 90 THEN
RCDT1 = 2
ELSEIF RC2 = 90 AND RC4 = 180 THEN
RCDT1 = 3
ELSEIF RC2 = 90 AND RC4 = 0 THEN
RCDT1 = 4
ELSEIF RC2 = 180 AND RC4 = 180 THEN
RCDT1 = 5
ELSEIF RC2 = 0 AND RC4 = 180 THEN
RCDT1 = 6
ELSEIF RC2 = 180 AND RC4 = 0 THEN
RCDT1 = 7
ELSEIF RC2 = 0 AND RC4 = 0 THEN
RCDT1 = 8
ENDIF


IF RC1 < 160 AND RC1 > 30 THEN RC1 = 90
IF RC3 < 160 AND RC3 > 30 THEN RC3 = 90

IF RC1 > 160 THEN RC1 = 180
IF RC1 < 30 THEN RC1 = 0
IF RC3 > 160 THEN RC3 = 180
IF RC3 < 30 THEN RC3 = 0

IF RC1 = 90 AND RC3 = 90 THEN
RCDT2 = 0
ELSEIF RC1 = 180 AND RC3 = 90 THEN
RCDT2 = 1
ELSEIF RC1 =0 AND RC3 = 90 THEN
RCDT2 = 2
ELSEIF RC1 = 90 AND RC3 = 180 THEN
RCDT2 = 3
ELSEIF RC1 = 90 AND RC3 = 0 THEN
RCDT2 = 4
ELSEIF RC1 = 180 AND RC3 = 180 THEN
RCDT2 = 5
ELSEIF RC1 = 0 AND RC3 = 180 THEN
RCDT2 = 6
ELSEIF RC1 = 180 AND RC3 = 0 THEN
RCDT2 = 7
ELSEIF RC1 = 0 AND RC3 = 0 THEN
RCDT2 = 8
ENDIF

RCDT = RCDT1 * 10
RCDT = RCDT + RCDT2

RETURN

'***************************************************************************
'***************************************************************************
key0:
SPEED 6
GOSUB STDUP
GOTO MAIN

'***************************************************************************
key1:
GOSUB Greeting
GOTO MAIN
'***************************************************************************
key2:
SPEED 6
GOSUB STDUP2
GOTO MAIN
'***************************************************************************
key3:
'Right Arm Bye
SPEED 5
GOSUB STDUP

' MOVE G6A,100,75,145,93,100,100
' MOVE G6D,100,75,145,93,100,100
MOVE G6B,100,45,70,100,100,100
MOVE G6C,100,150,160,100,100,100
WAIT

FOR i = 0 TO 1

SPEED 6
MOVE G6B,100,45,70,100,100,100
MOVE G6C,100,150,100,100,100,100
WAIT

MOVE G6B,100,45,70,100,100,100
MOVE G6C,100,150,160,100,100,100
WAIT

NEXT i
GOSUB STDUP

GOTO MAIN

'***************************************************************************
key4:
'Left Arm Bye
SPEED 5
' MOVE G6B,100,45,70,100,100,100
' MOVE G6C,100,45,70,100,100,100
' WAIT
GOSUB STDUP
' MOVE G6A,100,75,145,93,100,100
' MOVE G6D,100,75,145,93,100,100
MOVE G6B,100,150,160,100,100,100
MOVE G6C,100,45,70,100,100,100
WAIT
FOR i = 0 TO 1
SPEED 6
MOVE G6B,100,150,100,100,100,100
MOVE G6C,100,45,70,100,100,100
WAIT
MOVE G6B,100,150,160,100,100,100
MOVE G6C,100,45,70,100,100,100
WAIT
NEXT i
GOSUB STDUP
GOTO MAIN

'***************************************************************************
key5:
SPEED 4
MOVE G6A, 95,106,145, 69,109,100
MOVE G6D, 105, 56,130,135, 94,100
MOVE G6B,150, 39, 88,100,100,100
MOVE G6C,151, 33, 94,100,100,100
WAIT
DELAY 1000
FOR i= 0 TO 2
HIGHSPEED SETON
SPEED 6
'MOVE G6B,150, 39, 88,100,100,100
'MOVE G6C,151, 33, 94,100,100,100
'WAIT

MOVE G6B,150, 59, 18,100,100,100
MOVE G6C,151, 53, 24,100,100,100
WAIT

MOVE G6B,150, 39, 88,100,100,100
MOVE G6C,151, 33, 94,100,100,100
WAIT

NEXT i

HIGHSPEED SETOFF

DELAY 300

SPEED 4

GOSUB STDUP


GOTO MAIN

'***************************************************************************
key6:

GOTO MAIN

'***************************************************************************
key7:

SPEED 4
MOVE G6A, 105, 56,130,135, 94,100
MOVE G6B,150, 39, 88,100,100,100
MOVE G6C,151, 33, 94,100,100,100
MOVE G6D, 95,106,145, 69,109,100
WAIT

DELAY 1000

FOR i= 0 TO 2

HIGHSPEED SETON
SPEED 6
'MOVE G6B,150, 39, 88,100,100,100
'MOVE G6C,151, 33, 94,100,100,100
'WAIT

MOVE G6B,150, 59, 18,100,100,100
MOVE G6C,151, 53, 24,100,100,100
WAIT

MOVE G6B,150, 39, 88,100,100,100
MOVE G6C,151, 33, 94,100,100,100
WAIT

NEXT i

HIGHSPEED SETOFF

DELAY 300

SPEED 4

GOSUB STDUP

GOTO MAIN

'***************************************************************************
key8:

GOTO MAIN

'***************************************************************************
key9:

GOTO MAIN

'***************************************************************************
key10:

GOTO MAIN

'***************************************************************************
key11:
GOTO key11b
'********  koko wa  jisaku kobasiri totyuu ***************
SPEED 12
MOVE G6A, 113,  75, 145,  93,  98
MOVE G6D,  90,  95, 105, 113, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'migi_asi_mae
SPEED 7
MOVE G6A, 110,  75, 145,  93,  95
MOVE G6D,  90,  70, 135, 113, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'migi_asidati_hidari_usiro
SPEED 4
MOVE G6A,  90,  79, 145,  78, 115
MOVE G6D, 110,  75, 145,  93,  95
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'hidari_asi_mae
SPEED 8
MOVE G6A,  90,  70, 135, 113, 115
MOVE G6D, 110,  75, 145,  93,  95
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'hidari_asidati_migi_usiro
SPEED 4
MOVE G6A, 110,  75, 145,  93,  95
MOVE G6D,  90,  79, 145,  78, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'migi_asi_mae
SPEED 8
MOVE G6A, 110,  75, 145,  93,  95
MOVE G6D,  90,  70, 135, 113, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'migi_asidati_hidari_usiro
SPEED 4
MOVE G6A,  90,  79, 145,  78, 115
MOVE G6D, 110,  75, 145,  93,  95
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'hidari_asi_mae
SPEED 8
MOVE G6A,  90,  70, 135, 113, 115
MOVE G6D, 110,  75, 145,  93,  95
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'hidari_asidati_migi_usiro
SPEED 4
MOVE G6A, 110,  75, 145,  93,  95
MOVE G6D,  90,  79, 145,  78, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'migi_asi_mae
SPEED 8
MOVE G6A, 110,  75, 145,  93,  95
MOVE G6D,  90,  70, 135, 113, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'migi_asidati_hidari_usiro
SPEED 4
MOVE G6A,  90,  79, 145,  78, 115
MOVE G6D, 110,  75, 145,  93,  95
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'hidari_asi_mae
SPEED 8
MOVE G6A,  90,  70, 135, 113, 115
MOVE G6D, 110,  75, 145,  93,  95
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'hidari_asidati_migi_usiro
SPEED 4
MOVE G6A, 110,  75, 145,  93,  95
MOVE G6D,  90,  79, 145,  78, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'migi_asi_mae
SPEED 8
MOVE G6A, 110,  75, 145,  93,  95
MOVE G6D,  90,  70, 135, 113, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'migi_asidati_hidari_usiro
SPEED 4
MOVE G6A,  90,  79, 145,  78, 115
MOVE G6D, 110,  75, 145,  93,  95
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'hidari_asi_mae
SPEED 8
MOVE G6A,  90,  70, 135, 113, 115
MOVE G6D, 110,  75, 145,  93,  95
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

'hidari_asidati_migi_usiro
SPEED 4
MOVE G6A, 110,  75, 145,  93,  95
MOVE G6D,  90,  79, 145,  78, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT


'END
SPEED 7
MOVE G6A, 113,  75, 145,  93,  95
MOVE G6D,  90,  95, 105, 113, 115
MOVE G6B, 100,  45,  70
MOVE G6C, 100,  45,  70
WAIT

SPEED 5
GOSUB STDUP


GOTO MAIN

key11b:
'GOSUB Go_Front1
'Go_Front1 no naiyou
SPEED 5
'GOSUB right_inclination2
MOVE G6A, 90,  73, 148,  93, 110,  70
MOVE G6D,108,  75, 145,  93,  93,  70
MOVE G6B,100,  50,  70, 100, 100, 100
MOVE G6C,100,  60,  70, 100, 100, 100
WAIT
' RETURN
SPEED 7

FOR i=0 TO 1

'GOSUB L_Wait5_3
MOVE G6A, 87,  86, 130,  98, 113,  70
MOVE G6D,112,  75, 145,  93,  93,  70
MOVE G6B,90,  50,  70, 100, 100, 100
MOVE G6C,110,  60,  70, 100, 100, 100
WAIT
' RETURN
SPEED 9
'GOSUB mova_act21
MOVE G6A, 86,  41, 163, 112, 115,  60
MOVE G6D,112,  86, 130,  93,  93,  60
MOVE G6B, 80,  50,  70, 100, 100, 100
MOVE G6C,140,  50,  70, 100, 100, 100
WAIT
' RETURN

'GOSUB l_c1
    MOVE G6A,100, 49, 158, 112, 100, 100
MOVE G6D,100, 81, 146, 92, 100, 100
MOVE G6B, 90, 50, 70, 100, 100, 100
MOVE G6C,120, 50, 70, 100, 100, 100
WAIT
' RETURN

'GOSUB l_c_move1
MOVE G6A,112, 74, 140, 106, 93, 60
MOVE G6D, 90, 91, 145, 81, 115, 60
MOVE G6B,100, 50, 70, 100, 100, 100
MOVE G6C,100, 50, 70, 100, 100, 100
WAIT
' RETURN

'GOSUB R_Wait5_3
MOVE G6A,117,  75, 145,  93,  93,  70
MOVE G6D, 87,  81, 134,  98, 113,  70
MOVE G6B,110,  60,  70, 100, 100, 100
MOVE G6C,90,  50,  70, 100, 100, 100
WAIT
' RETURN

'GOSUB move_act11
MOVE G6A,112, 86, 130, 93, 93, 60
MOVE G6D, 86, 38, 163, 112, 114, 60
MOVE G6B,140, 50, 70, 100, 100, 100
MOVE G6C, 80, 50, 70, 100, 100, 100
WAIT
' RETURN

'GOSUB r_c1
MOVE G6A,100,  81, 146,  92, 100, 100
MOVE G6D,100,  49, 158, 112, 100, 100
MOVE G6B,120,  50,  70, 100, 100, 100
MOVE G6C, 90,  50,  70, 100, 100, 100
WAIT
' RETURN

'GOSUB r_c_move1
MOVE G6A, 90,  91, 145,  81, 115,  60
MOVE G6D,112,  74, 140, 106,  93,  60
MOVE G6B,100,  50,  70, 100, 100, 100
MOVE G6C,100,  50,  70, 100, 100, 100
WAIT
' RETURN

NEXT I

SPEED 6
'GOSUB L_Wait5_3
MOVE G6A, 87,  86, 130,  98, 113,  70
MOVE G6D,112,  75, 145,  93,  93,  70
MOVE G6B,90,  50,  70, 100, 100, 100
MOVE G6C,110,  60,  70, 100, 100, 100
WAIT
' RETURN

GOSUB right_inclination2
MOVE G6A, 90,  73, 148,  93, 110,  70
MOVE G6D,108,  75, 145,  93,  93,  70
MOVE G6B,100,  50,  70, 100, 100, 100
MOVE G6C,100,  60,  70, 100, 100, 100
WAIT
' RETURN

SPEED 3
GOSUB STDUP





GOTO MAIN

'***************************************************************************
key12:

GOSUB back1

GOTO MAIN

'***************************************************************************
key13:

right_side:

SPEED 5
GOSUB left_inclination2
SPEED 5
GOSUB R_Wait5_3
GOSUB action_1

GOSUB action_L3_R
GOSUB action_L3
GOSUB action_2

GOSUB L_Wait5_3
GOSUB right_inclination2
SPEED 6
GOSUB STDUP


GOTO MAIN

'***************************************************************************
key14:

left_side:

SPEED 5
GOSUB right_inclination2
SPEED 5
GOSUB L_Wait5_3

GOSUB action_2

GOSUB action_L3_L
GOSUB action_L3
GOSUB action_1

GOSUB R_Wait5_3
GOSUB left_inclination2
SPEED 6
GOSUB STDUP

GOTO MAIN

'***************************************************************************
key15:

GOTO MAIN

'***************************************************************************
key16:

GOSUB Turn1

GOTO MAIN

'***************************************************************************
key17:

GOTO MAIN

'***************************************************************************
key18:

GOSUB Turn2

GOTO MAIN

'***************************************************************************
key19:

GOTO MAIN

'***************************************************************************
key20:

GOTO MAIN

'***************************************************************************
key21:

GOSUB Front_pumch

GOTO MAIN

'***************************************************************************
key22:

GOSUB Front_pumch2

GOTO MAIN

'***************************************************************************
key23:

GOSUB Right_s_at1

GOTO MAIN

'***************************************************************************
key24:

GOSUB Left_s_at1

GOTO MAIN

'***************************************************************************
key25:

SPEED 5
GOSUB left_inclination2

MOVE G6A,116,  76, 145,  93,  93,  70
MOVE G6C,100,  50,  70, 100, 100, 100
WAIT

HIGHSPEED SETON

MOVE G6A,111,  76, 145,  93, 183,  70
WAIT

MOVE G6A, 59,  76, 145,  93, 183,  70
MOVE G6B,100, 104,  89, 100, 100, 100
MOVE G6C,100, 100,  92, 100, 100, 100
MOVE G6D, 53,  66, 167,  82, 184,  70
WAIT

HIGHSPEED SETOFF

DELAY 500

SPEED 6
GOSUB STDUP2

GOSUB STDUP

GOTO MAIN

'***************************************************************************
key26:

GOSUB Side_at1

GOTO MAIN

'***************************************************************************
key27:

SPEED 5
GOSUB right_inclination2

MOVE G6D,116,  76, 145,  93,  93,  70
MOVE G6B,100,  50,  70, 100, 100, 100
WAIT

HIGHSPEED SETON

MOVE G6D,111,  76, 145,  93, 183,  70
WAIT

MOVE G6D, 59,  76, 145,  93, 183,  70
MOVE G6B,100, 104,  89, 100, 100, 100
MOVE G6C,100, 100,  92, 100, 100, 100
MOVE G6A, 53,  66, 167,  82, 184,  70
WAIT

HIGHSPEED SETOFF

DELAY 500

SPEED 6
GOSUB STDUP2

GOSUB STDUP


GOTO MAIN
'***************************************************************************
key28:

GOSUB Side_at2

GOTO MAIN

'***************************************************************************
key29:

GOTO MAIN

'***************************************************************************
key30:

GOTO MAIN

'***************************************************************************
key31:

GOSUB Down_Front

GOTO MAIN

'***************************************************************************
key32:

GOSUB Down_Back

GOTO MAIN

'***************************************************************************
key33:


GOTO MAIN

'***************************************************************************
key34:

GOTO MAIN

'***************************************************************************
key35:

GOTO MAIN

'***************************************************************************
key36:

GOTO MAIN

'***************************************************************************
key37:

GOTO MAIN

'***************************************************************************
key38:

GOTO MAIN

'***************************************************************************
key39:

GOTO MAIN

'***************************************************************************
key40:

GOTO MAIN

'***************************************************************************
key41:

GOSUB Up_Front

GOTO MAIN

'***************************************************************************
key42:

GOSUB Up_Back

GOTO MAIN

'***************************************************************************
key43:

GOTO MAIN

'***************************************************************************
key44:

GOTO MAIN

'***************************************************************************
key45:

GOTO MAIN

'***************************************************************************
key46:

GOTO MAIN

'***************************************************************************
key47:

GOTO MAIN

'***************************************************************************
key48:

GOTO MAIN

'***************************************************************************
key49:

GOTO MAIN

'***************************************************************************
key50:

GOTO MAIN

'***************************************************************************
key51:

GOSUB Arm_act1

GOTO MAIN

'***************************************************************************
key52:

GOSUB STDUP

SPEED 5
MOVE G6A,90,75,145,93,110,100
MOVE G6D,90,75,145,93,110,100
MOVE G6B,70,165,150,100,100,100
MOVE G6C,70,165,150,100,100,100
WAIT

FOR i = 0 TO 1

MOVE G6A,90,85,125,103,110,100
MOVE G6D,90,85,125,103,110,100
MOVE G6B,70,145,190,100,100,100
MOVE G6C,70,145,190,100,100,100
WAIT

MOVE G6B,70,165,150,100,100,100
MOVE G6C,70,165,150,100,100,100
WAIT

NEXT i

GOSUB STDUP

GOTO MAIN

'***************************************************************************
key53:
'rught kick

SPEED 6

GOSUB left_inclination2

GOSUB R_Wait5_3

DELAY 200

MOVE G6B,146, 48, 41,100,100,100
WAIT

MOVE G6A,116, 76,125,131,120,100
WAIT

MOVE G6C,100,128, 70,101,100,100
MOVE G6D,100, 75, 83, 93,109,100
WAIT

HIGHSPEED SETON

MOVE G6A,119, 76,125,126,108,100
MOVE G6D,100, 75, 83,153,109,100
WAIT

MOVE G6A,119, 76,120,126,108,100
MOVE G6D,100, 45,163,153,109,100
WAIT

HIGHSPEED SETOFF

MOVE G6A,119, 76,125,121,108,100
MOVE G6D,100, 60,150,120, 99,100
WAIT

GOSUB STDUP

GOTO MAIN

'***************************************************************************
key54:
'Left Pass
SPEED 6

GOSUB right_inclination2

GOSUB L_Wait5_3

MOVE G6A, 87, 45,150,118,113, 70
MOVE G6B, 90, 50, 70,100,100,100
MOVE G6C,110, 60, 70,100,100,100
MOVE G6D,112, 75,145, 93, 93, 70
WAIT

GOSUB right_inclination2

SPEED 5

GOSUB STDUP

GOTO MAIN

'***************************************************************************
key55:

GOTO MAIN

'***************************************************************************
key56:

GOTO MAIN

'***************************************************************************
key57:

GOTO MAIN

'***************************************************************************
key58:

GOTO MAIN

'***************************************************************************
key59:

GOTO MAIN

'***************************************************************************
key60:

GOTO MAIN

'***************************************************************************
key61:

GOSUB swimming

GOTO MAIN

'***************************************************************************
key62:

haod:

SPEED 5
GOSUB left_inclination2


GOSUB action_1

MOVE G6A, 91,  77, 135, 103, 109, 100
MOVE G6D, 91,  77, 135, 103, 109, 100
MOVE G6B,100, 100, 120, 100, 100, 100
MOVE G6C,100, 100, 120, 100, 100, 100
WAIT
SPEED 10

FOR I = 0 TO 2
MOVE G6B,100, 145, 130, 100, 100, 100
MOVE G6C,100,  65,  70, 100, 100, 100
WAIT

MOVE G6B,100,  65,  70, 100, 100, 100
MOVE G6C,100, 145, 130, 100, 100, 100
WAIT
NEXT I

MOVE G6B,100, 100, 120, 100, 100, 100
MOVE G6C,100, 100, 120, 100, 100, 100
WAIT
DELAY 500
SPEED 7

FOR I = 0 TO 2
MOVE G6A,101, 100, 100, 111,  95, 100
MOVE G6D, 80,  86, 121, 107, 125, 100
MOVE G6B,100, 100, 120, 100, 100, 100
MOVE G6C,100, 100, 120, 100, 100, 100
WAIT

MOVE G6A,108, 158,  22, 135,  89, 100
MOVE G6D, 66, 133,  50, 137, 140, 100
MOVE G6B,100, 100, 120, 100, 100, 100
MOVE G6C,100, 100, 120, 100, 100, 100
WAIT

'Centor
MOVE G6A, 89, 158,  22, 135, 110, 100
MOVE G6D, 80, 148,  31, 138, 122, 100
MOVE G6B,100, 100, 120, 100, 100, 100
MOVE G6C,100, 100, 120, 100, 100, 100
WAIT


MOVE G6A, 66, 133,  50, 137, 140, 100
MOVE G6D,108, 158,  22, 135,  89, 100
MOVE G6B,100, 100, 120, 100, 100, 100
MOVE G6C,100, 100, 120, 100, 100, 100
WAIT


MOVE G6A, 80,  86, 121, 107, 125, 100
MOVE G6D,101, 100, 100, 111,  95, 100
MOVE G6B,100, 100, 120, 100, 100, 100
MOVE G6C,100, 100, 120, 100, 100, 100
WAIT

MOVE G6A, 91,  77, 135, 103, 109, 100
MOVE G6D, 91,  77, 135, 103, 109, 100
MOVE G6B,100, 100, 120, 100, 100, 100
MOVE G6C,100, 100, 120, 100, 100, 100
WAIT

NEXT I

DELAY 500
SPEED 9

GOSUB action_2

SPEED 5
GOSUB right_inclination2

GOSUB STDUP

GOTO MAIN

'***************************************************************************
key63:

GOTO MAIN

'***************************************************************************
key64:

GOTO MAIN

'***************************************************************************
key65:

GOTO MAIN

'***************************************************************************
key66:

GOTO MAIN

'***************************************************************************
key67:

GOTO MAIN

'***************************************************************************
key68:

GOTO MAIN

'***************************************************************************
key69:

GOTO MAIN

'***************************************************************************
key70:

GOTO MAIN

'***************************************************************************
key71:

GOSUB Roll_Front

GOTO MAIN

'***************************************************************************
key72:

GOSUB Roll_Back

GOTO MAIN

'***************************************************************************
key73:

GOSUB Roll_Side2

GOTO MAIN

'***************************************************************************
key74:

GOSUB Roll_Side1

GOTO MAIN

'***************************************************************************
key75:

GOTO MAIN

'***************************************************************************
key76:

GOTO MAIN

'***************************************************************************
key77:

GOTO MAIN

'***************************************************************************
key78:

GOTO MAIN

'***************************************************************************
key79:

GOTO MAIN

'***************************************************************************
key80:

GOTO MAIN

'***************************************************************************
key81:

'Udetatefuse

GOSUB Down_Front

DELAY 160

SPEED 6
' MOVE G6A,100,75,145,93,100,100
' MOVE G6D,100,75,145,93,100,100
MOVE G6B,100,150,20,100,100,100
MOVE G6C,100,150,20,100,100,100
WAIT

MOVE G6B,180,150,20,100,100,100
MOVE G6C,180,150,20,100,100,100
WAIT

SPEED 5

MOVE G6B,180,50,20,100,100,100
MOVE G6C,180,50,20,100,100,100
WAIT

FOR i=0 TO 2

MOVE G6B,180,60,10,100,100,100
MOVE G6C,180,60,10,100,100,100
WAIT

MOVE G6B,180,25,70,100,100,100
MOVE G6C,180,25,70,100,100,100
WAIT

NEXT i

MOVE G6B,180,60,10,100,100,100
MOVE G6C,180,60,10,100,100,100
WAIT

MOVE G6B,180,50,20,100,100,100
MOVE G6C,180,50,20,100,100,100
WAIT

GOSUB STDUP

GOSUB Up_Front

GOTO MAIN

'***************************************************************************
key82:

'Kata-Udetatefuse

GOSUB Down_Front

DELAY 160

SPEED 6
' MOVE G6A,100,75,145,93,100,100
' MOVE G6D,100,75,145,93,100,100
MOVE G6B,100,150,20,100,100,100
MOVE G6C,100,150,20,100,100,100
WAIT

MOVE G6B,180,150,20,100,100,100
MOVE G6C,180,150,20,100,100,100
WAIT

' MOVE G6A,100,75,145,93,100,100
' MOVE G6D,100,75,145,93,100,100
' WAIT

SPEED 5

MOVE G6B,180,50,20,100,100,100
MOVE G6C,180,50,20,100,100,100
WAIT

MOVE G6A,100,75,145,113,145,100
MOVE G6D,100,75,145,93,100,100
WAIT

MOVE G6B,180,120,10,100,100,100
MOVE G6C,180,50,20,100,100,100
WAIT


FOR i=0 TO 1

' MOVE G6B,180,60,10,100,100,100
MOVE G6C,180,60,10,100,100,100
WAIT

' MOVE G6B,180,25,70,100,100,100
MOVE G6C,180,25,70,100,100,100
WAIT

NEXT i

MOVE G6B,180,60,10,100,100,100
MOVE G6C,180,60,10,100,100,100
WAIT

MOVE G6B,180,50,20,100,100,100
MOVE G6C,180,50,20,100,100,100
WAIT

GOSUB STDUP

GOSUB Up_Front


GOTO MAIN

'***************************************************************************
key83:

GOTO MAIN

'***************************************************************************
key84:

GOTO MAIN

'***************************************************************************
key85:

GOTO MAIN

'***************************************************************************
key86:

GOTO MAIN

'***************************************************************************
key87:
' Up to Stare

SPEED 2
' MOVE G6A,100,75,145,93,100,100
' MOVE G6D,100,75,145,93,100,100
' MOVE G6B,100,45,70,100,100,100
' MOVE G6C,100,45,70,100,100,100
' WAIT

MOVE G6A, 85,75,145,93,115,100
MOVE G6D,115,75,145,93, 85,100
' MOVE G6B,100,45,70,100,100,100
' MOVE G6C, 90,45,70,100,100,100
WAIT

SPEED 3
'Left Legs UP
MOVE G6A, 82,115, 65,133,118,100
MOVE G6D,115,75,145,93, 85,100
WAIT

MOVE G6A, 90, 85, 75,153,110,100
MOVE G6D,115,75,145,93, 85,100
WAIT

MOVE G6A, 90, 55,105,163,110,100
MOVE G6D,115,75,145,93, 85,100
WAIT

' Left Legs Front
MOVE G6A,100, 15,145,153,105,100
' MOVE G6D,110,95,125,93, 90,100
WAIT

MOVE G6D,110,95,125,93, 90,100
WAIT

DELAY 200

SPEED 4
' MOVE G6A,115,75,145,93, 85,100
' MOVE G6D, 85,75,145,93,115,100
' WAIT

MOVE G6A,115,115,45,148, 85,100
MOVE G6D, 85,110,170,20,115,100
WAIT

MOVE G6A,115,125,75,128, 85,100
MOVE G6D, 85,70,175,40,115,100
WAIT

DELAY 200

SPEED 3
MOVE G6A,115,75,145,113, 85,100
MOVE G6D, 85,110,175,20,115,100
WAIT

MOVE G6A,115,75,145,113,85,100
MOVE G6D, 85,110, 95,100,115,100
WAIT

MOVE G6A,115,75,145,93, 85,100
MOVE G6D, 85,75,145,93,115,100
WAIT

MOVE G6A,100,75,145,93,100,100
MOVE G6D,100,75,145,93,100,100
MOVE G6B,100,45,70,100,100,100
MOVE G6C,100,45,70,100,100,100
WAIT


GOTO MAIN

'***************************************************************************
key88:

GOTO MAIN

'***************************************************************************
key89:

GOTO MAIN

'***************************************************************************
key90:

GOTO MAIN

'***************************************************************************

Greeting:
SPEED 8
MOVE G6A,100,  48, 135, 160, 100, 100
MOVE G6D,100,  48, 135, 160, 100, 100
MOVE G6B,145,  40,  70, 100, 100, 100
MOVE G6C,145,  40,  70, 100, 100, 100
WAIT
DELAY 1500
SPEED 6

GOSUB STDUP

RETURN

'*********************************************
STDUP2: 'Sittig straight

MOVE G6A,100, 150, 22, 140, 100, 100
MOVE G6D,100, 150, 22, 140, 100, 100
MOVE G6B,120, 45, 70, 100, 100, 100
MOVE G6C,120, 45, 70, 100, 100, 100
WAIT
mode = 1
RETURN

'** ATTACK Data*******************************************
Right_s_at1:
SPEED 6
GOSUB left_inclination2

SPEED 15
HIGHSPEED SETON
MOVE G6A, 57,  71, 142, 105, 142, 100
MOVE G6D,106, 157,  26, 134, 100, 100
MOVE G6B,155, 72,  69, 100, 100, 100
MOVE G6C,107, 125, 108, 100, 100, 100

DELAY 1000
HIGHSPEED SETOFF
SPEED 8
GOSUB STDUP2
RETURN

'*********************************************
Left_s_at1:
SPEED 6
GOSUB right_inclination2

SPEED 15
HIGHSPEED SETON
MOVE G6A,106, 157,  26, 134, 100, 100
MOVE G6D, 57,  71, 142, 105, 144, 100
MOVE G6B,107, 125, 108, 100, 100, 100
MOVE G6C,112,  92,  99, 100, 100, 100

DELAY 1000
HIGHSPEED SETOFF
SPEED 8
GOSUB STDUP2
RETURN
'*********************************************
Front_pumch:
SPEED 15
MOVE G6A, 92, 100, 110, 100, 107, 100
MOVE G6D, 92, 100, 110, 100, 107, 100
MOVE G6B,190, 149,  10, 100, 100, 100
MOVE G6C,190, 150,  10, 100, 100, 100
WAIT
SPEED 15
HIGHSPEED SETON
FOR I = 0 TO 2
MOVE G6B,190,  10, 75, 100, 100, 100
MOVE G6C,190, 140,  10, 100, 100, 100
WAIT
DELAY 150
MOVE G6B,190, 140,  10, 100, 100, 100
MOVE G6C,190,  10, 75, 100, 100, 100
WAIT
DELAY 150

NEXT I
HIGHSPEED SETOFF
SPEED 15
MOVE G6A, 92, 100, 110, 100, 107, 100
MOVE G6D, 92, 100, 110, 100, 107, 100
MOVE G6B,190, 149,  10, 100, 100, 100
MOVE G6C,190, 150,  10, 100, 100, 100
WAIT
GOSUB STDUP

RETURN
'**********************************************
Front_pumch2:
SPEED 15

GOSUB STDUP2

HIGHSPEED SETON
FOR I = 0 TO 2
MOVE G6B,190,  10, 75, 100, 100, 100
MOVE G6C,190, 140,  10, 100, 100, 100
WAIT
DELAY 150
MOVE G6B,190, 140,  10, 100, 100, 100
MOVE G6C,190,  10, 75, 100, 100, 100
WAIT
DELAY 150

NEXT I
HIGHSPEED SETOFF
SPEED 15

GOSUB STDUP2
SPEED 10
RETURN
'*********************************************
Side_at1:
SPEED 10
MOVE G6A, 92, 109,  95, 115, 107, 100
MOVE G6D, 92, 105,  95, 115, 107, 100
MOVE G6B, 10,  20,  70, 100, 100, 100
MOVE G6C, 10,  20,  70, 100, 100, 100
WAIT
SPEED 15
MOVE G6A, 92, 109,  95, 105, 107, 100
MOVE G6D, 92, 105,  95, 105, 107, 100
MOVE G6B, 10, 182, 121, 100, 100, 100
MOVE G6C, 10, 190, 119, 100, 100, 100
WAIT
DELAY 500
SPEED 10
GOSUB STDUP

RETURN

'**********************************************
Side_at2:
SPEED 15
MOVE G6A, 92, 100, 110, 100, 107, 100
MOVE G6D, 92, 100, 110, 100, 107, 100
MOVE G6B,100,  45,  70, 100, 100, 100
MOVE G6C,100,  45,  70, 100, 100, 100
WAIT

MOVE G6B,100, 175,  100, 100, 100, 100
MOVE G6C,100, 175,  100, 100, 100, 100
WAIT
DELAY 500

MOVE G6B,170, 175, 160, 100, 100, 100
MOVE G6C,170, 175, 160, 100, 100, 100
WAIT
MOVE G6B,100,  45,  70, 100, 100, 100
MOVE G6C,100,  45,  70, 100, 100, 100
WAIT
SPEED 10
GOSUB STDUP

RETURN

'***********************************************




'****Move Action******************************************

Go_Front1:

SPEED 5
GOSUB right_inclination2
SPEED 7

FOR i=0 TO 1

GOSUB L_Wait5_3
SPEED 9
GOSUB mova_act21
GOSUB l_c1
GOSUB l_c_move1
GOSUB R_Wait5_3

GOSUB move_act11
GOSUB r_c1
GOSUB r_c_move1

NEXT I

SPEED 6
GOSUB L_Wait5_3

GOSUB right_inclination2
SPEED 3
GOSUB STDUP
RETURN

'*********************************************************

back1:

SPEED 5
GOSUB right_inclination2
SPEED 8
GOSUB L_Wait10
SPEED 10
FOR i=0 TO 1

GOSUB r_c_move1
GOSUB r_c1
GOSUB move_act11
GOSUB R_Wait10

GOSUB l_c_move1
GOSUB l_c1
GOSUB mova_act21
GOSUB L_Wait10

NEXT i

GOSUB right_inclination2
SPEED 4
GOSUB STDUP
RETURN

'********************************************
Turn1:
SPEED 6
GOSUB right_inclination2
SPEED 7
GOSUB L_Wait5_3
GOSUB Lf_Wait10
GOSUB Turn_Act2
GOSUB STDUP

RETURN

'********************************************
Turn2:
SPEED 6
GOSUB left_inclination2
SPEED 7
GOSUB R_Wait5_3
GOSUB Rf_Wait10
GOSUB Turn_act1
GOSUB STDUP

RETURN

'***************************************
Down_Front:

SPEED 8
GOSUB STDUP
MOVE G6A,100, 155,  20, 140, 100, 100
MOVE G6D,100, 155,  20, 140, 100, 100
MOVE G6B,130,  50,  85, 100, 100, 100
MOVE G6C,130,  50,  85, 100, 100, 100
WAIT

MOVE G6A, 60, 165,  30, 165, 155, 100
MOVE G6D, 60, 165,  30, 165, 155, 100
MOVE G6B,170,  10, 100, 100, 100, 100
MOVE G6C,170,  10, 100, 100, 100, 100
WAIT


MOVE G6A, 75, 165,  55, 165, 155, 100
MOVE G6D, 75, 165,  55, 165, 155, 100
MOVE G6B,185,  10, 100, 100, 100, 100
MOVE G6C,185,  10, 100, 100, 100, 100
WAIT

MOVE G6A, 80, 155,  85, 150, 150, 100
MOVE G6D, 80, 155,  85, 150, 150, 100
MOVE G6B,185,  40, 60,  100, 100, 100
MOVE G6C,185,  40, 60,  100, 100, 100
WAIT


MOVE G6A,100, 130, 120,  80, 110, 100
MOVE G6D,100, 130, 120,  80, 110, 100
MOVE G6B,150, 160,  10, 100, 100, 100
MOVE G6C,150, 160,  10, 100, 100, 100
WAIT

GOSUB STDUP

RETURN

'******************************************
Down_Back:
SPEED 10
GOSUB STDUP
MOVE G6A,100, 165,  40, 100, 100, 100
MOVE G6D,100, 165,  40, 100, 100, 100
MOVE G6B,110,  70,  50, 100, 100, 100
MOVE G6C,110,  70,  50, 100, 100, 100
WAIT

MOVE G6A,100, 165,  70, 15, 100, 100
MOVE G6D,100, 165,  70, 15, 100, 100
MOVE G6B,30,  20,  95, 100, 100, 100
MOVE G6C,30,  20,  95, 100, 100, 100
WAIT

MOVE G6A,100, 126,  60, 50, 100, 100
MOVE G6D,100, 126,  60, 50, 100, 100
MOVE G6B,20,  30,  90, 100, 100, 100
MOVE G6C,20,  30,  90, 100, 100, 100
WAIT


MOVE G6A,100, 10,  83, 140, 100, 100
MOVE G6D,100, 10,  83, 140, 100, 100
MOVE G6B,20,  130,  10, 100, 100, 100
MOVE G6C,20,  130,  10, 100, 100, 100
WAIT

MOVE G6A,100, 10,  100, 115, 100, 100
MOVE G6D,100, 10,  100, 115, 100, 100
MOVE G6B,100,  130,  10, 100, 100, 100
MOVE G6C,100,  130,  10, 100, 100, 100
WAIT

GOSUB STDUP

RETURN
'*********************************************
Up_Front:

SPEED 10
'GOSUB STDUP

MOVE G6A,100, 130, 120,  80, 110, 100
MOVE G6D,100, 130, 120,  80, 110, 100
MOVE G6B,150, 160,  10, 100, 100, 100
MOVE G6C,150, 160,  10, 100, 100, 100
WAIT

MOVE G6A, 80, 155,  85, 150, 150, 100
MOVE G6D, 80, 155,  85, 150, 150, 100
MOVE G6B,185,  40, 60,  100, 100, 100
MOVE G6C,185,  40, 60,  100, 100, 100
WAIT

MOVE G6A, 75, 165,  55, 165, 155, 100
MOVE G6D, 75, 165,  55, 165, 155, 100
MOVE G6B,185,  10, 100, 100, 100, 100
MOVE G6C,185,  10, 100, 100, 100, 100
WAIT

MOVE G6A, 60, 165,  30, 165, 155, 100
MOVE G6D, 60, 165,  30, 165, 155, 100
MOVE G6B,170,  10, 100, 100, 100, 100
MOVE G6C,170,  10, 100, 100, 100, 100
WAIT

MOVE G6A, 60, 165,  20, 160, 145, 100
MOVE G6D, 60, 165,  20, 160, 145, 100
MOVE G6B,150,  60,  90, 100, 100, 100
MOVE G6C,150,  60,  90, 100, 100, 100
WAIT

MOVE G6A,100, 155,  20, 140, 100, 100
MOVE G6D,100, 155,  20, 140, 100, 100
MOVE G6B,130,  50,  85, 100, 100, 100
MOVE G6C,130,  50,  85, 100, 100, 100
WAIT
'DELAY 100

GOSUB STDUP

RETURN
'**********************************************

Up_Back:
SPEED 10
GOSUB STDUP

MOVE G6A,100, 10,  100, 115, 100, 100
MOVE G6D,100, 10,  100, 115, 100, 100
MOVE G6B,100,  130,  10, 100, 100, 100
MOVE G6C,100,  130,  10, 100, 100, 100
WAIT

MOVE G6A,100, 10,  83, 140, 100, 100
MOVE G6D,100, 10,  83, 140, 100, 100
MOVE G6B,20,  130,  10, 100, 100, 100
MOVE G6C,20,  130,  10, 100, 100, 100
WAIT

MOVE G6A,100, 126,  60, 50, 100, 100
MOVE G6D,100, 126,  60, 50, 100, 100
MOVE G6B,20,  30,  90, 100, 100, 100
MOVE G6C,20,  30,  90, 100, 100, 100
WAIT

MOVE G6A,100, 165,  70, 15, 100, 100
MOVE G6D,100, 165,  70, 15, 100, 100
MOVE G6B,30,  20,  95, 100, 100, 100
MOVE G6C,30,  20,  95, 100, 100, 100
WAIT

MOVE G6A,100, 165,  40, 100, 100, 100
MOVE G6D,100, 165,  40, 100, 100, 100
MOVE G6B,110,  70,  50, 100, 100, 100
MOVE G6C,110,  70,  50, 100, 100, 100
WAIT

GOSUB STDUP

RETURN

'****************************************************
Roll_Front:

SPEED 8
GOSUB STDUP
MOVE G6A,100, 155,  20, 140, 100, 100
MOVE G6D,100, 155,  20, 140, 100, 100
MOVE G6B,130,  50,  85, 100, 100, 100
MOVE G6C,130,  50,  85, 100, 100, 100
WAIT

MOVE G6A, 60, 165,  30, 165, 155, 100
MOVE G6D, 60, 165,  30, 165, 155, 100
MOVE G6B,170,  10, 100, 100, 100, 100
MOVE G6C,170,  10, 100, 100, 100, 100
WAIT


MOVE G6A, 75, 165,  55, 165, 155, 100
MOVE G6D, 75, 165,  55, 165, 155, 100
MOVE G6B,185,  10, 100, 100, 100, 100
MOVE G6C,185,  10, 100, 100, 100, 100
WAIT

MOVE G6A, 80, 155,  85, 150, 150, 100
MOVE G6D, 80, 155,  85, 150, 150, 100
MOVE G6B,185,  40, 60,  100, 100, 100
MOVE G6C,185,  40, 60,  100, 100, 100
WAIT


MOVE G6A,100, 130, 120,  80, 110, 100
MOVE G6D,100, 130, 120,  80, 110, 100
MOVE G6B,150, 160,  10, 100, 100, 100
MOVE G6C,150, 160,  10, 100, 100, 100
WAIT


MOVE G6A,100, 160, 110, 140, 100, 100
MOVE G6D,100, 160, 110, 140, 100, 100
MOVE G6B,140,  70,  20, 100, 100, 100
MOVE G6C,140,  70,  20, 100, 100, 100
WAIT

SPEED 15
MOVE G6A,100,  56, 110,  26, 100, 100
MOVE G6D,100,  71, 177, 162, 100, 100
MOVE G6B,170,  40,  50, 100, 100, 100
MOVE G6C,170,  40,  50, 100, 100, 100
WAIT
MOVE G6A,100,  62, 110,  15, 100, 100
MOVE G6D,100,  71, 128, 113, 100, 100
MOVE G6B,190,  40,  50, 100, 100, 100
MOVE G6C,190,  40,  50, 100, 100, 100
WAIT

SPEED 15
MOVE G6A,100,  62, 110,  15, 100, 100
MOVE G6D,100,  62, 110,  15, 100, 100
WAIT
SPEED 10

MOVE G6A,100, 110, 100,  15, 100, 100
MOVE G6D,100, 110, 100,  15, 100, 100
MOVE G6B,190, 160, 115, 100, 100, 100
MOVE G6C,190, 160, 115, 100, 100, 100
WAIT

MOVE G6A,100, 170,  70,  15, 100, 100
MOVE G6D,100, 170,  70,  15, 100, 100
MOVE G6B,190, 170, 120, 100, 100, 100
MOVE G6C,190, 170, 119, 100, 100, 100
WAIT

MOVE G6A,100, 170,  70,  50, 100, 100
MOVE G6D,100, 170,  70,  50, 100, 100
MOVE G6B,190,  80,  60, 100, 100, 100
MOVE G6C,190,  80,  60, 100, 100, 100
WAIT

GOSUB STDUP2

GOSUB STDUP

RETURN
'***********************************************

Roll_Back:
SPEED 8
'GOSUB STDUP
MOVE G6A,100, 170,  71,  23, 100, 100
MOVE G6D,100, 170,  71,  23, 100, 100
MOVE G6B, 80,  50,  70, 100, 100, 100
MOVE G6C, 80,  50,  70, 100, 100, 100
WAIT

MOVE G6A,100, 133,  71,  23, 100, 100
MOVE G6D,100, 133,  71,  23, 100, 100
MOVE G6B, 10,  96,  15, 100, 100, 100
MOVE G6C, 10,  96,  14, 100, 100, 100
WAIT

MOVE G6A,100, 133,  49,  23, 100, 100
MOVE G6D,100, 133,  49,  23, 100, 100
MOVE G6B, 45, 116,  15, 100, 100, 100
MOVE G6C, 45, 116,  14, 100, 100, 100
WAIT

MOVE G6A,100, 133,  49,  23, 100, 100
MOVE G6D,100,  70, 180, 160, 100, 100
MOVE G6B, 45,  50,  70, 100, 100, 100
MOVE G6C, 45,  50,  70, 100, 100, 100
WAIT
SPEED 15
MOVE G6A,100,  70, 180, 160, 100, 100
MOVE G6D,100,  70, 180, 160, 100, 100
MOVE G6B, 10,  50,  70, 100, 100, 100
MOVE G6C, 10,  50,  70, 100, 100, 100
WAIT
SPEED 15
HIGHSPEED SETON
MOVE G6A,100, 105, 180, 160, 100, 100
MOVE G6D,100, 105, 180, 160, 100, 100
MOVE G6B,185,  60,  50, 100, 100, 100
MOVE G6C,185,  60,  50, 100, 100, 100
WAIT
DELAY 80
HIGHSPEED SETOFF
'************
GOSUB Up_Front
RETURN

'**********************************************************
Roll_Side2:
'GOSUB STDUP2
SPEED 8
MOVE G6A,100, 128,  60, 123, 100, 100
MOVE G6D,100, 128,  60, 123, 100, 100
MOVE G6B,100, 120, 140, 100, 100, 100
MOVE G6C,100, 120, 140, 100, 100, 100
WAIT
DELAY 250

SPEED 3
MOVE G6A, 84, 104,  91, 116, 100, 100
MOVE G6D,114, 130,  60, 123, 105, 100
WAIT

MOVE G6A,89,  133,  60, 123, 100, 100
MOVE G6D,114, 129,  60, 123, 105, 100
WAIT

MOVE G6A, 89, 133,  60, 123, 130, 100
MOVE G6D,120, 129,  60, 123, 110, 100
WAIT

SPEED 4
MOVE G6A,89,  133,  60, 123, 158, 100
MOVE G6D,120, 129,  60, 123, 120, 100
MOVE G6B,100, 165, 185, 100, 100, 100
MOVE G6C,100, 165, 185, 100, 100, 100
WAIT

SPEED 8
MOVE G6A,120, 131,  60, 123, 183, 100
MOVE G6D,120, 129,  60, 123, 185, 100
WAIT

DELAY 200

SPEED 5
MOVE G6B,100, 120, 145, 100, 100, 100
MOVE G6C,100, 120, 145, 100, 100, 100
WAIT

SPEED 6
MOVE G6A,105, 129,  60, 123, 183, 100
MOVE G6D, 86, 112,  73, 127, 101, 100

WAIT

SPEED 3
MOVE G6A,112, 129,  62, 126, 133, 100
MOVE G6D, 86, 112,  73, 127, 101, 100
MOVE G6B,100, 80, 80, 100, 100, 100
MOVE G6C,100, 80, 80, 100, 100, 100
WAIT

SPEED 3
MOVE G6A,107, 128,  62, 126, 113, 100
MOVE G6D, 88, 111,  86, 115,  90, 100
WAIT

SPEED 4
MOVE G6A,100, 128,  60, 126, 100, 100
MOVE G6D,100, 128,  60, 126, 100, 100
WAIT

SPEED 10
GOSUB STDUP

RETURN
'*******************************************
Roll_Side1:
'GOSUB STDUP2

SPEED 8
MOVE G6A,100, 128,  60, 126, 100, 100
MOVE G6D,100, 128,  60, 126, 100, 100
MOVE G6B,100, 120, 140, 100, 100, 100
MOVE G6C,100, 120, 140, 100, 100, 100
WAIT

DELAY 300
SPEED 3
MOVE G6A,114, 133,  60, 123, 105, 100
MOVE G6D, 80, 109,  91, 116, 100, 100
WAIT

MOVE G6A,114, 133,  60, 123, 105, 100
MOVE G6D,89,  133,  60, 123, 100, 100
WAIT

MOVE G6A,120, 133,  60, 123, 110, 100
MOVE G6D, 89, 133,  60, 123, 130, 100
WAIT


SPEED 4
MOVE G6A,120, 132,  60, 123, 120, 100
MOVE G6D,89,  133,  60, 123, 158, 100
MOVE G6B,100, 165, 185, 100, 100, 100
MOVE G6C,100, 165, 185, 100, 100, 100
WAIT

SPEED 8
MOVE G6A,120, 131,  60, 123, 185, 100
MOVE G6D,120, 131,  60, 123, 183, 100

WAIT

DELAY 200

SPEED 5
MOVE G6B,100, 120, 145, 100, 100, 100
MOVE G6C,100, 120, 145, 100, 100, 100
WAIT

SPEED 6

MOVE G6A, 86, 112,  73, 127, 101, 100
MOVE G6D,105, 129,  60, 123, 183, 100
WAIT

SPEED 3
MOVE G6A, 86, 112,  73, 127, 101, 100
MOVE G6D,112, 128,  62, 123, 133, 100
MOVE G6B,100, 80, 80, 100, 100, 100
MOVE G6C,100, 80, 80, 100, 100, 100
WAIT

SPEED 3
MOVE G6A, 88, 112,  86, 115,  90, 100
MOVE G6D,107, 128,  62, 123, 113, 100
WAIT

SPEED 4
MOVE G6A,100, 128,  60, 123, 100, 100
MOVE G6D,100, 128,  60, 123, 100, 100
WAIT

SPEED 10
GOSUB STDUP

RETURN





'*****Move Sub Action *************************************
Turn_act1:

MOVE G6A,108, 79, 145, 98, 93, 60
MOVE G6D, 95, 40, 169, 110, 110, 60
MOVE G6B,140, 50, 70, 100, 100, 100
MOVE G6C, 60, 50, 70, 100, 100, 100
WAIT
RETURN
'*********************************************
Turn_Act2:

MOVE G6A, 95, 40, 169, 110, 110, 60
MOVE G6D,108, 79, 145, 98, 93, 60
MOVE G6B, 60, 50, 70, 100, 100, 100
MOVE G6C,140, 50, 70, 100, 100, 100
WAIT
RETURN

'*********************************************
L_Wait5_3:
MOVE G6A, 87,  86, 130,  98, 113,  70
MOVE G6D,112,  75, 145,  93,  93,  70
MOVE G6B,90,  50,  70, 100, 100, 100
MOVE G6C,110,  60,  70, 100, 100, 100
WAIT
RETURN
'*********************************************
L_Wait10:
MOVE G6A, 90,  98, 105,  115, 115, 70
MOVE G6D,114,  75, 145,  93,  93, 70
MOVE G6B,90,  50,  70, 100, 100, 100
MOVE G6C,110,  60,  70, 100, 100, 100
WAIT
RETURN
'*********************************************
Lf_Wait10:
MOVE G6A, 90,  50, 157, 115, 112,  60
MOVE G6D,112,  76, 145,  97,  93,  60
MOVE G6B, 80,  50,  70, 100, 100, 100
MOVE G6C,120,  50,  70, 100, 100, 100
WAIT
RETURN

'*********************************************
R_Wait5_3:
MOVE G6A,117,  75, 145,  93,  93,  70
MOVE G6D, 87,  81, 134,  98, 113,  70

MOVE G6B,110,  60,  70, 100, 100, 100
MOVE G6C,90,  50,  70, 100, 100, 100
WAIT
RETURN
'*********************************************
Rf_Wait10:
MOVE G6A,112,  76, 145,  97,  93,  60
MOVE G6D, 90,  50, 147, 125, 112,  60
WAIT


MOVE G6A,112,  76, 145,  97,  93,  60
MOVE G6D, 90,  50, 157, 115, 112,  60
MOVE G6B,120,  50,  70, 100, 100, 100
MOVE G6C, 80,  50,  70, 100, 100, 100
WAIT
RETURN


'*********************************************
r_c_move1:
MOVE G6A, 90,  91, 145,  81, 115,  60
MOVE G6D,112,  74, 140, 106,  93,  60
MOVE G6B,100,  50,  70, 100, 100, 100
MOVE G6C,100,  50,  70, 100, 100, 100
WAIT
RETURN
'*********************************************
r_c1:
MOVE G6A,100,  81, 146,  92, 100, 100
MOVE G6D,100,  49, 158, 112, 100, 100
MOVE G6B,120,  50,  70, 100, 100, 100
MOVE G6C, 90,  50,  70, 100, 100, 100
WAIT
RETURN
'*********************************************
move_act11:
MOVE G6A,112, 86, 130, 93, 93, 60
MOVE G6D, 86, 38, 163, 112, 114, 60
MOVE G6B,140, 50, 70, 100, 100, 100
MOVE G6C, 80, 50, 70, 100, 100, 100
WAIT
RETURN
'*********************************************
R_Wait10:
MOVE G6A,114, 75, 145, 93, 93, 70
MOVE G6D, 90, 98, 105, 115, 115, 70
MOVE G6B,110, 60, 70, 100, 100, 100
MOVE G6C,90, 50, 70, 100, 100, 100
WAIT
RETURN
'*********************************************
l_c_move1:
MOVE G6A,112, 74, 140, 106, 93, 60
MOVE G6D, 90, 91, 145, 81, 115, 60
MOVE G6B,100, 50, 70, 100, 100, 100
MOVE G6C,100, 50, 70, 100, 100, 100
WAIT
RETURN
'*********************************************
l_c1:
MOVE G6A,100, 49, 158, 112, 100, 100
MOVE G6D,100, 81, 146, 92, 100, 100
MOVE G6B, 90, 50, 70, 100, 100, 100
MOVE G6C,120, 50, 70, 100, 100, 100
WAIT
RETURN
'*********************************************
mova_act21:
MOVE G6A, 86,  41, 163, 112, 115,  60
MOVE G6D,112,  86, 130,  93,  93,  60
MOVE G6B, 80,  50,  70, 100, 100, 100
MOVE G6C,140,  50,  70, 100, 100, 100
WAIT
RETURN
'*********************************************






'*********************************************

action_1:
MOVE G6A,110, 87, 120, 115, 93, 70
MOVE G6D, 76, 69, 160, 95, 128, 70
MOVE G6B,100, 70, 70, 100, 100, 100
MOVE G6C,100, 50, 70, 100, 100, 100
WAIT
RETURN

'*********************************************

action_2:
MOVE G6D,110,  82, 120, 115,  93,  70
MOVE G6A, 80,  67, 160,  95, 128,  70
MOVE G6B,100,  50,  70, 100, 100, 100
MOVE G6C,100,  70,  70, 100, 100, 100
WAIT
RETURN
'**********************************************

action_L3_L:
MOVE G6A, 98, 80, 135, 103, 109, 100
MOVE G6D, 93, 80, 135, 103, 109, 100
MOVE G6B,100, 60, 70, 100, 100, 100
MOVE G6C,100, 60, 70, 100, 100, 100
WAIT
RETURN
'**********************************************

action_L3_R:
MOVE G6A, 95, 80, 135, 103, 109, 100
MOVE G6D, 96, 80, 135, 103, 109, 100
MOVE G6B,100, 60, 70, 100, 100, 100
MOVE G6C,100, 60, 70, 100, 100, 100
WAIT
RETURN
'**********************************************

action_L3:
MOVE G6A, 95, 80, 135, 103, 109, 100
MOVE G6D, 93, 80, 135, 103, 109, 100
MOVE G6B,100, 60, 70, 100, 100, 100
MOVE G6C,100, 60, 70, 100, 100, 100
WAIT
RETURN


'**********************************************

left_inclination2:
MOVE G6A,108, 75, 145, 93, 93, 70
MOVE G6D, 90, 73, 148, 93, 110, 70
MOVE G6B,100, 60, 70, 100, 100, 100
MOVE G6C,100, 50, 70, 100, 100, 100
WAIT
RETURN

'**********************************************

right_inclination2:
MOVE G6A, 90,  73, 148,  93, 110,  70
MOVE G6D,108,  75, 145,  93,  93,  70
MOVE G6B,100,  50,  70, 100, 100, 100
MOVE G6C,100,  60,  70, 100, 100, 100
WAIT
RETURN

'**********************************************

Arm_act1:
GOSUB STDUP

MOVE G6A,100,69,145,93,100,100
MOVE G6D,100,69,145,93,100,100
WAIT

SPEED 7
MOVE G6B,190,  45,  70, 100, 100, 100
MOVE G6C,190,  45,  70, 100, 100, 100
WAIT

SPEED 10
MOVE G6B,190,  100,  100, 100, 100, 100
MOVE G6C,190,  100,  100, 100, 100, 100
WAIT

SPEED 13
MOVE G6B,100, 100, 100, 100, 100, 100
MOVE G6C,100, 100, 100, 100, 100, 100
WAIT


SPEED 8
MOVE G6B,100, 150, 130, 100, 100, 100
MOVE G6C,100, 150, 130, 100, 100, 100
WAIT

SPEED 10
FOR i = 0 TO 2
MOVE G6B,100, 180, 150, 100, 100, 100
MOVE G6C,100, 180, 150, 100, 100, 100
WAIT

MOVE G6B,100, 70, 60, 100, 100, 100
MOVE G6C,100, 70, 60, 100, 100, 100
WAIT

NEXT i

SPEED 6
'GOSUB STDUP

MOVE G6B,190,  100,  100, 100, 100, 100
MOVE G6C,190,  100,  100, 100, 100, 100
WAIT

SPEED 8
FOR i = 0 TO 1
MOVE G6B,190, 100, 100, 100, 100, 100
MOVE G6C,190,  15,  15, 100, 100, 100
WAIT

MOVE G6B,190, 15, 15, 100, 100, 100
MOVE G6C,190,  15,  15, 100, 100, 100
WAIT

MOVE G6B,190, 100, 100, 100, 100, 100
MOVE G6C,190,  15,  15, 100, 100, 100
WAIT

MOVE G6B,190,  100,  100, 100, 100, 100
MOVE G6C,190,  100,  100, 100, 100, 100
WAIT

MOVE G6B,190, 15, 15, 100, 100, 100
MOVE G6C,190,  15,  15, 100, 100, 100
WAIT
MOVE G6B,190,  100,  100, 100, 100, 100
MOVE G6C,190,  100,  100, 100, 100, 100
WAIT

NEXT i

SPEED 6
GOSUB STDUP


RETURN

'****************************************************************
swimming:
SPEED 5
GOSUB right_inclination2
MOVE G6A, 90,  96, 105,  115, 115, 60
MOVE G6D,116,  70, 145,  98,  93, 60
MOVE G6B,100,  150,  150, 100, 100, 100
MOVE G6C,100,  150,  150, 100, 100, 100
WAIT
SPEED 3
MOVE G6A, 90,  98, 105,  64, 115,  60
MOVE G6D,116,  33, 170, 167,  93,  60
MOVE G6B,100, 160, 180, 100, 100, 100
MOVE G6C,100, 160, 180, 100, 100, 100
WAIT

SPEED 10
MOVE G6A, 90, 117,  41, 113, 115,  60
MOVE G6D,116,  30, 176, 167,  93,  60
MOVE G6B,100, 160, 180, 100, 100, 100
MOVE G6C,100, 160, 180, 100, 100, 100
WAIT


FOR i = 0 TO 1
MOVE G6A, 90, 117,  41, 113, 115,  60
MOVE G6D,116,  30, 176, 167,  93,  60
MOVE G6B,100, 180, 130, 100, 100, 100
MOVE G6C,100, 180, 130, 100, 100, 100
WAIT
SPEED 15
MOVE G6A, 90,  63, 165,  47, 115,  60
MOVE G6D,116,  36, 176, 167,  93,  60
MOVE G6B,100,  70,  50, 100, 100, 100
MOVE G6C,100,  70,  50, 100, 100, 100
WAIT
SPEED 7
NEXT i



FOR i = 0 TO 2
SPEED 6
MOVE G6A, 90,  74, 176,  32, 115,  60
MOVE G6D,116,  33, 176, 167,  93,  60
MOVE G6B,170, 169, 117, 100, 100, 100
MOVE G6C,170, 169, 117, 100, 100, 100
WAIT

SPEED 15
HIGHSPEED SETON
MOVE G6A, 90,  36, 154,  32, 115,  60
MOVE G6D,116,  34, 176, 167,  93,  60
MOVE G6B,170,  40,  70, 100, 100, 100
MOVE G6C,170,  40,  70, 100, 100, 100
WAIT
DELAY 100
HIGHSPEED SETOFF
NEXT i

SPEED 6

MOVE G6A, 90,  98, 105,  64, 115,  60
MOVE G6D,116,  37, 170, 167,  93,  60
MOVE G6B,100, 160, 180, 100, 100, 100
MOVE G6C,100, 160, 180, 100, 100, 100
WAIT

SPEED 4

MOVE G6A, 90,  98, 105,  115, 115, 60
WAIT

MOVE G6D,116,  37, 170,  145,  93, 60
WAIT


MOVE G6D,116,  73, 145,  98,  93, 60
MOVE G6B,100,  150,  150, 100, 100, 100
MOVE G6C,100,  150,  150, 100, 100, 100
WAIT

GOSUB right_inclination2
GOSUB STDUP

RETURN

GOTO MAIN


'**************************
CEND:

END
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