'Thor_8-commands.bas 40x2 Firmware v3 '================================================== 'Note there are ">>" between Acts, one > to get the Act, and one > to get the move '================================================== Commands ======== Primary commands ---------------- 012345678 [Esc].;@()<>+-$?¬ ABEFHIKLMQRSVXZ abeklpqrstuvwxyz ignore comma space @ if first command is @ then autoruns on poweron/reset Acts tested from 1 to 8, then 01 to 07 if recorded from IR Act8 always has an @ to Autorun. 1-8 Act to Record or Play - default page 0 change to Acts page0, after command changes back to Acts page1 ( start of a Do, a jump to an Act will on . continue in the Do, will show its location in EEPROM when played. If a jump is made to an Act which contains another Do then that Do will not be implemented. ) end of a Do Q,q,[Esc] - quit current operation - recording, playing, input, flush serial buffer . quit current operation - recording, playing, input if [IR-Power] then flush Serial Buffer ; continue in next Act F Forwards one step B Backwards one step R turn Right one step L turn Left one step H Halt with both feet together I Initialise leg positions K Kick V voice + react ON, test Whiskers & Feelers - react ON, test Ground sensors A be Alive - run commands in Mind E Execute - RUN 3 Z Sleep - kill servos z Sleep - kill servos X,x - eXit to enable reprogram - response "ReProgram" ¬ reset PicAxe [U+00AC = not-sign = shift-backtick on UK keyboard] prints differently in different browsers parameter commands {choice {range [default ------------------ 'speed s stop no pulse s{1-9 speed su speed up s+ speed up sd speed down s- speed down sm set speedmax for su to speed 'wait w0 wait until serial or IR command for Act to resume, no effect if not playing w{1-9 wait x/2 seconds 'voice v{1,b bip v{2,e whee v{3,o whoa v{4,v beep150 v{5,s sshhh v[t tsh 'eyes eR Right eye Doing for 1 second eL Left eye Doing for 1 second ee both eyes Dim for 1 second er right eye Dim for 1 second el left eye Dim for 1 second e{0,1,2,3 - eyes bit state LR for 1 second, 0 off, 1 on 'turn tm Turn memory, turn same way as last time to Turn Otherway to last time ta Turn Away from leading foot 'do action x a{1,b bip needed FOR IR use a{2,e whee needed FOR IR use a{3,o whoa needed FOR IR use a{4,v beep100 needed FOR IR use a{5,S StampRL a{6,W WaveL a{7,s Squat needed because IR doesn't have 's' a{8,c Crouch needed because IR doesn't have 'c' a{9,t Tall needed because IR doesn't have 't' a{0,A be Alive - run commands in Mind a0 needed FOR IR use a{+,E experiment a+ needed FOR IR use 'pose p<0-9><0-9><0-9><0-9> - positions for LA LH RH RA, 5 is toes mid, 0 is foot full up = br0 ' uf - get up from forwards (Thor can't get up) ' ub - get up from backwards ' ux - auto '$ test sensors and react $+ test Whiskers & Feelers 'IR [+] react ON then $+, [9][+] react off $- test Ground sensors 'IR [-] react ON then $-, [9][-] auto and react off $0 reacts OFF, autosense OFF 'for IR VCROSS="$" $1 reacts ON 'for IR VCROSS="$" ${2,a autosense ON 'for IR VCROSS="$" $3 U/S reacts OFF 'for IR VCROSS="$" $4 U/S reacts ON 'for IR VCROSS="$" $U test Ultrasonic sensor $W test Whisker sensors $F test Feelers $G test Ground sensors ' k,\ - control 'behaviour bS Save current behaviour as default Behaviour b0 reload default behaviour bI Initialise EEPROM, need to RESET or "b0" afterwards bL be Lethargic - as bvl for mind bN be Normal - as bvn for mind bV be Vigorous - as bvh for mind bv{l,n,h,x vitality - low,normal,high,extreme bp{1-9 move pace x bl{1-9 move lift x bt{1-9 move turn x br{1-9 move rideheight x brS rideheight Squat, servos off brC rideheight Crouch brT rideheight Tall bf{0-9 toes Front offset bk{0-9 kick b$a autosense ON [9][+]=OFF if ON then Ground will be checked after every step and holes reacted to by a jump to Autohole. Then if react is ON other sensors will be checked b$1 sensors reactions ON [9][-]=OFF b$0 sensors autosense and reactions OFF [9][+][9][-] bWS{0-9 Whisker threshold decade bW{0-9 Whisker threshold digit bFS{0-9 Feeler threshold decade S->Scale bF{0-9 Feeler threshold digit bU+{1-9 Ultrasonic AwareAt units 50mm/2in bU-{1-9 Ultrasonic TooNear units 50mm/2in b@ Adjust joints {0-3 select servo / next servo -,+ adjust position * show current position values C write current position as Centre position Q,[Esc],[.] Quit 'system r<1-8> record 1 of 8 31byte Acts l<1-8> load Act x into current page ?h print Help ?{1-8 print Act ?? print all Acts ?a print all Acts ?b print BeHaves ?p print Pose ?d Dump out all acts to the PC, same as '?' but without the Act and moves numbers. ?# Dump out all acts to the PC as ASCII ?{U,W,F,G print sensor values - Ultrasonic.Whisker,Feeler,Ground,'Tip ?{!.M print- Reacts,Mind Prog0 - BDEFGHILNQRSTVWXZ.^* blprsvwxz spare - AJKMOPUY acdefghijkmnoqtuy =¦,:;~'"`¬£$%&(){}[]_|<>/\ Prog1 - BCFHILMPRST^@ Prog2 - ?D# Prog3 - Other responses k - waiting for no IR - ie finger off button 'REACTONS USaware, "vttatmtm." USnear, "vss-Btatmtm." 'obstacle OLR, "s-BBtatmtm." OL_, "s-BRR." O_R, "s-BLL." 'hole HLR, "s-BBBBtatmtm." HL_, "s-BRRR." H_R, "s-BLLL." 'MIND 'one char "FB3LVFBFVHFRLRLRHLFHK1LVRBZF2F4V" '32 'two chars "w1vew3bVw5vew7w9vobLvevovob0vss+s-eRbNeL" '40 "eEertaelvveetaeRats-tms+s+s+vvtoaSasacat" '40 "bNaSaceEtmvevovv")'16 '=================================================================