In past few days, I was reading one of the sample program from the SDK, MoNet. This sample reads the MTN file, which contains a serie of motions for the AIBO Dog.

Currently, I have difficulties in understanding this sample program, since it has not comments in the statements and it involves many complex concepts of C++.

The related files are:

MTNFile.h
MoNetData.h
ODA.h
MoNetCommandInfoManager.h
MoNetCommandInfo.h
DirectedGraph.h
CommandNode.h
CommandArc.h
As well as thier corresponding .cc files.

1. You should always check if the actions you wanna play may have overwrite execution or not. If not, you should add "WAIT" after play this kind of action to ensure no overwrite execution occurs.
2. sometimes when the power is not enough, or u need to restart AIBO, it won't complete some of the hard jobs, it will simply ignore it.
3. the wireless LAN connection for Master studio is not quite stable...sometimes it has to restart AIBO.
4. when it is sitting, its back sensor becomes too sensitive that it will continue as if its back is being pushing all the time. sometimes we have to press the other sensors to "wake it up from this looping"
5.when we are using the the if statement to adjust the time the back sensor was pressed, don't release it until the time reaches.
6.AIBO is kinda not accurate in counting the time which sensors were pressed, so avoid using this kinda commands as possible.
7. u cannot connect two different applications(such as master studio and action composor) to AIBO at the same time.
8. while we want AIBO to lift up one or both of its hands, u'd better let it sit for both hind legs, coz that will make the balance much more easier.
9. we can save any sensor variables and do some math to them as well.
10.if there is another ongoing command, we should use "AND WAIT=1 " as well to make sure the required side command is still being excuted.
11.if u want aibo to hear something nicely and do some actions, do not put any actions (especially moving its ears while it is listening), that will disturb the voice recognition system.
11.sometimes the motion of aibo will stuck, u have to restart the wireless connection or restart aibo.

1.use USB card reader to change the 2 configure files on the AIBO Master Studio MS.
as the files in the MS folder here.
2.configure notebook to be auto-configure
3.open AIBO Master Studio Setup, and set the Wireless LAN to be

IP Address of AIBO:192.168.0.213 User ID:bigmac
Subnet Mask: 255.255.255.0 Password:****
Default Gateway: 192.168.0.1 Confirm Password:****
Host Name:AIBO
SSID: cas-wlan1 //NOTICE u should manual type this in every time, coz this software won't save it if u click "ok"
WEP key:
Action Mode: 2:Auto Mode
Wireless Channel: 3

Type definitions are stored in:

/usr/local/OPEN_R_SDK/OPEN_R/include/Types.h

...
typedef unsigned char byte; /* must be 8-bit quantity */
typedef unsigned short word; /* must be 16-bit quantity */
typedef unsigned long longword; /* must be 32-bit quantity */
typedef char sbyte; /* must be signed 8-bit quantity */
typedef short sword; /* must be signed 16-bit quantity */
typedef long slongword; /* must be signed 32-bit quantity */
typedef byte* pbyte; /* must be 8-bit addressing unit */
typedef word* pword; /* must be 16-bit addressing unit */
typedef int* plongword; /* must be 32-bit addressing unit */
...