ACTS
----

Act 1 - FFF.
Act 2 - BBB.
Act 3 - RRR.
Act 4 - LLL.
Act 5 - FFFRRHLLH.
Act 6 - FFFFBBBBFFFFBBBB
Act 7 - v2v2v2v2v2v2v2v2
Act 8 - ?Gw18.

Act 01 - s9aBs1cbs3uF.
Act 02 - +suF02.
Act 03 - s9aFs1cfs3uB.
Act 04 - $Ww104.
Act 05 - auals6cfcfasw1s1
Act 06 - 05.
Act 07 - $W$Fw207.
{0>?b{2?b,

BEHAVIOUR
---------
Baldur
2 speed
5 speedmax
1(24) Lift
2(6) Pace
4(14) Turn
2 toes offset Down
2 foot up Side
0 Back offset
2 Kick
0 $ react
0 Ground test
0 autoUp
9 WhiskerThresh
9 toeFeelerThresh
7 USawareAt - units 5cm/2inch
3 UStoonear - units 5cm/2inch
{0>?h{2?h,{3?h,


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

F B R L H K I V S . ; Q Esc
 Forward,Back,Right,Left,Halt,Kick,Init,Voice,Stop,Continue,Quit,Quit
X x 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{3?h,
r{1-8 record Act - Esc ; . end record
l{1-8 load Act, without moving - Esc ; . end load

s 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 Doing 1sec
 {L,R Doing 1sec
 {l,r off 1sec
 <0-3 bit state LR bright 1sec
a,^ Subroutines
 {1,b bip  {2,e beep50  {3,o sshhh
 {4,S StampRL {5.W WaveL  {6.K Kick
 {7,s sit  {8,u standUp
pm pose Mid
 F lean Forwards full
 B lean Backwards full
 f lean Forwards
 b lean Backwards
t{r,l turn R L on spot
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
c{f,b,r,l Crawl F,B,R,L
u{f,b Up from front,back
 {h,B getup back from head
 F    getup front from head
 (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
 d<0-9 toedown offset
 s<0-9 foot up side scales FUD
 b<0-9 back offset
 k<0-9 kick
 u{0,1 autoUpOff,On
 g{0,1 autotestgnd off,on
 ${0,1 UWFG reactions off,on
 WS<0-9 Whisker threshold decade
  <0-9 Whisker threshold digit
 FS<0-9 Feeler threshold decade
  0-9 Feeler threshold digit
 U+<1-9 Ultrasonic AwareAt units 50mm/2in
 U-<1-9 Ultrasonic TooNear units 50mm/2in
 @ 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