//-------------------------------------------
//  ぐるぐる ３
//-------------------------------------------

SET:Power:1
POSE:AIBO:oStanding
WAIT

// 通常モード〜右曲がり
:100
MOVE:HEAD:ABS:0:0:0:1000
WAIT
MOVE:LEGS:WALK:0:FORWARD:0 // 前進

SET:t:0
:110
IF:<:Distance:300:120      // 前方障害物チェック
WAIT:1
ADD:t:1
IF:>:t:100:120
GO:110

// 前方に障害物があった場合
:120
PLAY:LEGS:WalkToWS
POSE:AIBO:oStanding        // 一時停止
WAIT

:130
MOVE:HEAD:ABS:0:-90:0:1000
MOVE:HEAD:ABS:0:90:0:2000
MOVE:HEAD:ABS:0:0:0:1000
SET:dd:0
:131
IF:=:Wait:0:132
SET:d:Distance
IF:<:d:dd:131
SET:dd:d
SET:pan:Head_pan
GO:131
:132
IF:<:pan:-20:200
IF:>:pan:20:300
IF:<:dd:300:133
GO:100

:133
PLAY:SOUND:ang1_xxa:100
MOVE:LEGS:STEP:11:0:10
WAIT
GO:130

:200
MOVE:HEAD:ABS:-30:0:0:1000
WAIT
:210
MOVE:LEGS:STEP:12:0:4
WAIT
IF:>:Distance:300:100
GO:210

:300
MOVE:HEAD:ABS:-30:0:0:1000
WAIT
:310
MOVE:LEGS:STEP:13:0:4
WAIT
IF:>:Distance:300:100
GO:310