ACTS
----
Act 1 - FFFF.
Act 2 - BBBB.
Act 3 - s1FFFw1s5BBBw1V.
Act 4 - s2FFVbl4FFVbl1FF
Act 5 - Vw1s5BBBBBB.
Act 6 - FFFBBBsu6.
Act 7 - s1FFFw1s5BBBw1V.
Act 8 - ef+eBsuF8.

Act 01 - s8FFFs3BBBs1RRRs
Act 02 - 8LLLFFFs3BBB.
Act 03 - FFF.
Act 04 - s1FFFs8FFFBBBs1B
Act 05 - BB;
Act 06 - FF.
Act 07 - +w607.

BEHAVIOUR
---------
Freya
2 speed
3 speedmax
2,(#21) Lift cmnd
2,(#11) Pace cmnd
4,(#18) Turn cmnd
2 toes offset Down
0 toes offset Front
3 toes Stand offset CON
2 Kick
1 $ react
1 Ground test
1 autoUp
9 Wthresh
9 Fthresh


COMMANDS
--------
HELP {choice <range [default

F B R L H I V S K . Q [Esc]
 Forward,Back,Right,Left,Halt,Init,Voice,Stop,Kick,stop,Quit.Esc
X x Z z
 eXit,exit,Sleep,sleep
@ Autorun marker, 
; continue in next Slot
1-8 Play Act. (only 7 acts in page0)
0 change to page0 for next command only
( start of Do, not nestable
) end of Do
E Experiment - run3
¬ RESET PicAxe

r,l,w,v,a,^,t,u,s,b,y,@,?
r{1-8 record Act - Esc ; . end record
l{1-8 load Act, without moving - Esc ; . end load
w0 wait any key or IR
 [1-8] wait 1/2 secs
v1 bip
 2 beep50
 3 sshhh
 e whee
 o whoa
ta - Turn Away from leading foot
 t - Turn To leading foot
 m - Turn memory, turn same way as last time
 o - Turn Otherway to last time
a,^ Subroutines
 1 bip      [2]beep50   [3]sshhh
 4,S StampRL  [5,W]WaveR  [6,K]Kick  [7,V]VertSplit
uf standUp from forwards
 b standUp from backwards
 u,a auto standUp
s[1-9] speed
 u speed-up
 d speed-down
 m set maxspeed to speed
e[ASCII] char EyeCode
y[1-9] increments yawn each execution,
       if Playing if yawn=paramter then skip next cmnd
+ test Whiskers & Feelers and react
- test Ground sensors and react, auto test on
$ test sensors and react
 W Whiskers
 F Feelers
 G Ground sensors
 (T Tip sensor.can ?T and auto test bu1)

bS Save current behaves
 0 load behaves
 I Initialise EEPROM
 l[1-9] lift
 p[1-9] pace
 t[1-9] turn, may fall if 9
 d[0-9] toe Down offset
 f[0-9] toe Front offset
 k[0-9] Kick
 u[0,1] autoUp off,on
 g[0,1] autotestGnd off,on
 $[0,1] WFG reactions off,on
 W S[0-9] Whisker threshold decade
   [0-9] Whisker threshold digit
 F S[0-9] Feeler threshold decade
   [0-9] Feeler threshold digit
 @ Adjust joints - [/]next,[*]print,[-][+]adjust,[C]centre,[Q]

?h Help,?^ Subs,?? Acts,?[1-8] Act,?p Pose, ?b BeHaves
?d dump-Acts,?# #Acts
?W,?F - print Whiskers,Feelers, last reading
?T,?G - print Tip,Ground