|home >||Mom-Ambler < Joe-Ambler > Aesir||15 January 2023|
|Joe - by David Buckley||November 2002|
as at November 2008
On power on the default Act is got from the PicAxe18x.
The current Default Act can be changed anytime by a running Act.
If enabled the Toe Bump Sensors are checked during every step, a toe bump will stop the step and invoke the bump reactions.
A decaying count of toe hurts is maintained and if it passes a threshold then frustration reactions will be done.
For testing sensors press either toe at poweron to disable servos.
The BS2 ------- On poweron waits for the Act number to be sent from the 18x reads - the toe bump switches - user pot which can set the speed of walking. - ultrasonic sensor - serial Act and eye values from the PicAxe-18x - if eyewalking waits for the eye values to be sent from the 18x controls - beeper/voice LED - pace servo - roll servo The PicAxe-18x -------------- On poweron the Act on the 7-segment display will flash brightly five times, while flashing will with each button push increment through the 16 Acts remembering the last one. - remembers the set Act - repeatedly reads the LDR eyes and averages and scales the reading and sends the remembered Act and eye values to the BS2 The PicAxe-08m2 - one on each foot --------------- - awaits a 'B' ot 'T' command from the BS2 and reads either the Bump sensor switch or the Twinkle Toes optical obstacle detector. - serially sends the result to the BS2.