Download Colbert User Manual

Colbert User Manual
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1 Introduction ______________________________________________________ 4
2 Interacting with Colbert ____________________________________________ 5
2.1 Colbert Interaction Window ___________________________________________ 5
2.2 Colbert files _________________________________________________________ 6
2.3 A Sample Colbert File: bump.act______________________________________ 6
3 Data Types and Operators___________________________________________ 8
3.1 Basic Data Types_____________________________________________________ 8
3.2 Reference and Dereference Operators ___________________________________ 8
3.3 Assignment Operators ________________________________________________ 8
3.4 Arrays _____________________________________________________________ 8
3.5 Casting _____________________________________________________________ 8
3.6 Arithmetic, Logical, and Comparison Operators __________________________ 8
3.7 Structures __________________________________________________________ 9
4 Standard C Commands ____________________________________________ 10
4.1 Declaring Global Variables ___________________________________________ 10
4.2 C Expressions ______________________________________________________ 10
4.3 Function Evaluation _________________________________________________ 10
4.4 Assignment ________________________________________________________ 11
5 Robot Motion Commands __________________________________________ 12
5.1 Direct Action Commands_____________________________________________ 12
5.2 Direct Action Options________________________________________________ 12
5.3 Behavioral Action Interface___________________________________________ 13
5.4 Invoking Behavioral Actions __________________________________________ 14
5.5 Suspending Behavioral Actions________________________________________ 14
6 Activity Definition ________________________________________________ 15
6.1 Activity Schemas____________________________________________________ 15
6.2 Activity Statements__________________________________________________ 16
6.3 Control Structures __________________________________________________ 16
6.4 Activity Labels _____________________________________________________ 17
6.5 Wait Points ________________________________________________________ 17
6.6 Termination Commands _____________________________________________ 17
6.7 Redefining Activities ________________________________________________ 18
7 Invoking Activities ________________________________________________ 19