Primary commands used
012345678 ?*.!$@()Esc" BDFGHLQRTUV  bgnstw    
' 'space and ','comma ignored, except [,] after digits to indicate end of number  

COMMANDS
========
[Q],[Esc] - stop all
[.] - stop, quit current operation - recording, playing, input
["] - start/end of a comment, processed in GetCcmnd()
[(] - start of Do, Acts within a Do will be treated as subroutines
[)] - end of Do
[0] - use page0 for the next cmnd or Act, Acts [0][1] - [0][8]
      page 1 is the default
[1-8] Play act, or the Act to record, copy, load etc
[!] - use ReActs page, ReActs [!][1] - [!][8]
[F]digits[,] - Forwards   - if no digits then default
[B]digits[,] - Backwards  - if no digits then default
[R]digits[,] - turn Right - if no digits then default
[L]digits[,] - turn Left  - if no digits then default
   digits should be terminated with [,] or [ ] or other non digit character except [Q] and [.]
   digits may be preceded by a minus sign to reverse direction so F-100, is B100,
[G]digitsX[,]digitsY[,] - goto X,Y
[H] - goto 'home'
[D] - Pen down
[U] - Pen up
[V] - beep
[w][1-9,0] - wait seconds, 0=10
[n][1-9,0] - nap tenths second, 0=10

Speed
[s][1-9] - speed, steptime =speed cmnd *4 +5
   [+] - speed-up,   steptime -=1 >=speedmax
   [-] - speed-down, steptime +=1 <=40
   [u] - speed-up,   steptime -=1 >=speedmax
   [d] - speed-down, steptime *=4 <=40 
   [m] - set speedmax for speed-up to current speed
   [s] - save speed

Move
[m][m] - move Memory - move same way as last time
   [o] - move Other - move other way from last time
   [+]+-DigitsX[,]+-DigitsY[,] - goto X,Y offset from current position
   
Turn
[t][h]digits[,] - Turn to heading
   [m] - Turn Memory - turn same way as last time
   [o] - Turn Other - turn other way from last time
   [l] - Turn to Light
   [d] - Turn to Dark
   [u] - Turn Unwind
   [C]digits[,] - Turn to Compass heading

Sensors
[$][b] - return bumper status
   [g] - return ground/barcodereader value
   [l] - return light value - Buggy LDR
   [e] - return eyes values - add-ons
   [~] - return change in barcodereader value

Skill
[t][l] - Turn to Light
   [d] - Turn to Dark
   [L] - Turn at Light
   [D] - Turn at Dark
   [u] - Turn Unwind
[H] - goto 'home'
[g][H] - goto 'home'
[g][0-9] - goto numbered place

Mind
[M][r][0-9][{]<cmnds>[}] - if random(0,10)<=digit then do commands and end act 
       eg. M3{F199,B200,Cfr,}Vw1Vw1. if random <3 then {...} will be done else beep will sound, { optional      
[@][H] - set current location as new 'home'
   [0-9] - set place (0 - 9) to current location
[?][m] - print Mind
[?][p] - print places

Behaviour
[b][0] - Restore default behaviour
   [S] - Save behaviour as default
   [a][1-8] - Act to autorun on power on
      [0] - no autorun
      [d] - if Playing ends, run autorun Act
   [m]digits[,] - default move steps
   [t]digits[,] - default turn steps
   [s]digits[,] - stepescale, actual steps for 100mm
   [r]digits[,] - rotatescale, actual steps for 360 degrees
   [e]digits[,] - eye threshold - low dark
   [l]digits[,] - LDR threshold - low dark
   [g]digits[,] - BarCode threshold - high dark
   [b][0,1] - react to bump sensors 0=OFF,1=ON
   [g][0,1] - react to Ground/BarCode/Line sensor 0=OFF,1=ON
   [g][w] - Ground/BarCode/Line sensor react to White"));
   [g][b] - Ground/BarCode/Line sensor react to Black"));
   [g][t]digits[,] - Ground/BarCode/Line sensor threshold
   [l][0,1] - react to LDR sensor 0=OFF,1=ON
   [l][w] - LDR sensor react to White"));
   [l][b] - LDR sensor react to Black"));
   [l][t]digits[,] - LDR sensor threshold
   [e][0,1] - react to eye sensors 0=OFF,1=ON   
   [e][l] - eyes react to Light
   [e][d] - eyes react to Dark
   [e][t]digits[,] - eyes threshold
   [v] - verbose printing
   [q] - quiet printing, verbose off

System
[*][r][0 1-8] - record act, 0 use page0
   [l][0 1-8] - load act, 0 use page0
   [c][0 1-8][0 1-8] - copy act to act, 0 use page0
["] - start/end of a comment, processed in GetCcmnd()

Print
[?][?] - prints all acts
   [a] - prints all acts
   [0] - prints acts 0, and changes [?][?] to just print current page
   [1-8] - print Act in current page
   [!] - print ReActs
   [b] - print behaviour
   [M] - print Mind
   [d] - dump all acts to PC without descriptions, for reloading
   [$] - print sensors
   [p] - places
   [h] - print help
   [E] - print EEPROM use
   [f] - print free RAM

Notes
[(] - will show its location in EEPRO< when played eg (=263
[)] - will show its location in EEPRO< when played eg )=285
If a call to another Act is made from within a Do then the location to return to will be shown, eg (267)
Acts by default are stored in page 1, 0 changes to page 0 for the next command only.
Page 0 ia the first 256 bytes of EEPROM, Page 1 is EEPROM bytes 256-511, ReActs is the next 256 bytes, 
negative numbers allowed for F,B,R,L - so F-20 does B20
=============================================================
TVR010_PicAxe_IR_controller:
'---------------------------
'Before use, the transmitter must be programmed with the ‘Sony’ transmit code.
'1. Insert 2 AAA size batteries, preferably alkaline.
'2. Press [S] and [B] at the same time. [S] is in the centre of the arrows.
'  The top left red LED should light.
'3. Press [0]. The LED should flash.
'4. Press [1]. The LED should flash.
'5. Press [3]. The LED should go out.
'6. Press the red power button (top right).
'-------------------------------------------
'IRin cmnds using PicAxe controller
'DO NOT PRESS OTHER KEYS
'ie [A] [B] [C] [D] [E] [F] [G]
'They change the Mode and [B] has to be pressed to change back.
'[square] [triangle] [()] [L] [X] [backwards F]  have no effect
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