ACTS ---- Act 1 - FFF. Forward Forward Forward Stop Act 2 - BBB. Back Back Back Stop Act 3 - RRR. Right Right Right Stop Act 4 - LLL. Left Left Left Stop Act 5 - FF. Forward Forward Stop Act 6 - ufS. getUpForwards Stop Act 7 - ubS. GetUpBackwards Stop Act 8 - Vw1Vw1Vw1Vw5Vw5V Bip wait 1 Bip wait 1 Bip wait 1 Bip wait 5 Bip - then continue in Act01 Act 01 - FFFascfcfcrS03. Forward Forward Forward Sit CrawlForward CrawlForward CrawlRight run Act03 Act 02 - cfcrcbSFvo; Act 03 - bl7s9a Forward,Back,Right,Left,Halt,stepL,stepR K I V S . ; Q Esc Kick,Init,Voice,Stand,Stop,Continue,Quit,Quit X x eXit,exit - to program Z z Sleep,sleep <1-8 play Act in current page 0 change to Acts page 0 for next command @ Autorun marker, ; continue in next Slot ( start of Do, not nestable ) end of Do E Experiment - run2 ¬ RESET r{1-8 record Act - Esc ; . end record l{1-8 load Act, without moving - Esc ; . end load s r l w v a ^ u b y + - $ ? s{1-9 speed u speed-up d speed-down m set speedmax to speed w0 wait any key or IR {1-8 wait 1/2 secs v{1,b bip {2,v beep50 {3,s sshhh {4,e whee {5,o whoa [t tsh ee eyes dim 1sec {L,R bright 1sec {l,r dim 1sec <0-3 bit state LR 1sec a,^ Actions {1,b bip {2,e whee, {3,o whoa {4,S StampRL [5,W WaveL {6,K KickOut {7,s sit {8,u standUp < kickL > kickR ps sit no pulse e up easy u up lift f lean Forwards m mid b lean Backwards F lean Forwards full B lean Backwards full 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 r skid Turn R l skid Turn L c{f,b,r,l Crawl F,B,R,L u{f,b Up from front,back {u,a auto standUp y[1-9] increments yawn each execution, if yawn=paramter then skip next cmnd + test W&F sensors and react - test Ground sensors and react, auto test on $ test sensors and react U Ultrasonic 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<0-9 lift p<0-9 pace t<0-9 turn o<0-9 toes Offset Out i<1-9 stance foot In k<0-9 kick T beTall C Crawling u{0,1 autoUpOff,On g{0,1 autotestgnd off,on ${0,1 UWFG reactions off,on U+<1-9 Ultrasonic AwareAt units 50mm/2in U-<1-9 Ultrasonic TooNear units 50mm/2in WS<0-9 Whisker threshold decade <0-9 Whisker threshold digit FS<0-9 Feeler threshold decade <0-9 Feeler threshold digit @ Adjust joints - / next, * print, - + adjust, C centre, Q ?{h,?,<1-8,p,b,d,# print- Help,Acts,Act,Pose,BeHaves, dump- Acts,#Acts ?{T.U.W.F.G - print- Tip,Sonar,Whiskers,Feelers,Ground