Baldur ----------------------------------------------- 6.0 ' INITIALISATION Init: InitEEPROM: Behaviour: 'Posture: ' LEAVES ReProgram: RUN1: RUN2: RUN3: ' COMMANDER Commander: 'TranslateIR: DoCmnd: 'COMMANDS FBRLHSIKEV, zZ@012345678+-$(U+WFG-) 'PARAMETER-COMMANDS wtva^cu 'BEHAVE: Dlptdsbfkug$UWF@ 'CaseBehave_Speed: 'CaseBehave_Yawn: 'CaseBehave_Default 'CaseRecord: 'CaseHelp 'CaseExit 'CaseLoadAct: ' SYSTEM GetSubCmnd: GetCmnd: QIR: Qserial: QPlayAct: 'RefreshServos: ReadSerCmnd: GotCmnd: noIRkey: QRecord: Record: ' HMI bip: beep50: tsh: 'because that is what it sounds like tshh: 'because that is what it sounds like sshhh: 'because that is what it sounds like beep255: whee: 'make rising sound whoa: 'make falling sound badkey: Z: TellServos: TellHipServos: ----------------------------------------------- 6.1 ' INITIALISATION Init: 'AdjBehaviour: 'Qstanding: to do ' COMMANDER ' MIND NewMapFeelers: MapFeelers: NewMapWhiskers: MapWhiskers: NewMapFootfeelers: MapFootfeelers: ' SENSES 'setUSawares: to do 'setUSawares_m: to do Qping: 'Query Ultrasonic Sensor, read into USdist Qfeelers: Qwhiskers: Qfootfeelers: Qground: Qfell: to do ' BEHAVIOUR NewBehave: Sdown: ' REACTIONS Robject: Robstacle: Rhole: ' ACTS WaveL: ' ACTIONS InitLegs: getUpF: getUpB: getUpHeadF: getUpHeadB: getUpU: StampRL: StampR: StampL: KickOut: liedown: standup: MOVEMENT: Fd: Bk: Ta: Rt: Lt: TurnR: TurnL: Tm: 'TurnMemory: Tother: 'TurnOther: Hlt: StandStill: crawlForwards: crawlBack: crawlRight: crawlLeft: ' POSE poseForwards: poseBack: poseForwardsFull: poseBackFull: poseUp: poselie: PH_SLR: 'Stand on Left + Right PH_SR: 'Stand on Right PH_SL: 'Stand on Left PK_TLMMO: 'Turn Left Toes Mid Mid Offset PK_TRMMO: 'Turn Right Toes Mid Mid Offset PK_WBF: 'Walk BF PK_WFB: 'Walk FB PK_HHO: 'Toes Halt Offset PK_MSO: 'Toe Mid Stand Offset - toes offset PK_FF: PK_BB: ' HMI bip: beep50: tsh: 'because that is what it sounds like tshh: 'because that is what it sounds like sshhh: 'because that is what it sounds like beep255: whee: 'make rising sound whoa: 'make falling sound GetCmnd: Qserial: MOVE: MoveCalcs: TellServos: 'Check if falling over 0 => stance toe off ground AbortMove: ' toe 0=off ground -> falling? so abortMove and do SLR ----------------------------------------------- 6.2 ' INITIALISATION ' COMMANDER PrintActs: 'Remember internal Slots/Acts are 0-7 keys [1]-[8] PrintBeHaves: PrintAct: DumpActs: DumpASCIIacts: PrintPose: '?p '?U print U/S is redirected to Prog6.1 GOSUB Qping :SERTXD("U",#usdist) PrintWhiskerSensors: '?W PrintFootFeelers: '?F PrintGroundSensors: '?G PrintHelp: sshhh: ----------------------------------------------- 6.3 ' INITIALISATION ' COMMANDER E - various scratchpad tests SETUP: 'Can't do this by IRremote so don't test IR 'CaseAdjust@: GetCmnd: Qserial: ReadSerCmnd: MOVE: TellServos: PrintHelp: 'help continued from Prog2 InitEEPROM: -----------------------------------------------