It will be easier if you provide a project file please

I got it fixed. I did not have the latest Update. Sorry.

But, I do have a question. When I am running the Roomba, I have the script checking for the objects and it is going forward. She will go forward until I say stop or there is an object in front. But I have it in a loop to continue testing for objects, and I use speech recognition windows to say stop the script. But when I stop the script, she doesn't stop, the Roomba continues to go forward. I have to then say Robot Stop. Is there a way to stop the robot when I stop the script?

thanks,

I am enjoying that subroutine.

The script actually did not work for me when I got it. I found out that my sharp sensors were flaky. So, I changed it to work with only the PING units and I guess it will be ok. But work or not, it was a GREAT tutorial. And, I am getting some of my confidence back.

Rather than use a ControlCommand() to stop the script, use a variable.

For example in the looping code, do something like this..

# This variable will be used to determine if we exit.
# If it is a 0, we continue running
# If it is a 1, we exit this script
$exit = 0

# begin moving forward
Forward()

:Start

# Get the ping sensor value
$ping1 = GetPing(d9, d8)

# If the ping sensor value is less than 20, alarm!
if ($ping1 < 20)
  goto(Alarm)

# If the exit value is 1, exit the script
if ($exit = 1)
  goto(Exit)

Sleep(500)

Goto(Start)

:Alarm
Stop()
Say("Object Detected")
Halt()

:Exit
Stop()
Say("Received Command Stop")
Halt()

And in your Exit Command for Speech REcognition, you will set $exit = 1

You start the script the same way you'd normally start, by ControlCommand("MyScript", ScriptStart)

thanks, D.J. -You are the Greatest!!!

Mel

Here's an example of how you'd do it: Example-Script-CustomObjectAvoidance.EZB