improvements? - - GetAct could use GetCcmnd to read Act from current act rather than a prompt. rx,lx,cx would then be playable, but those make no sense to do at this level - void GetCcmnd() could use case 0: - why? To do next - Spare slot addresses 26 - 23 could be used as well 9 8 LeftRightLightTurnThresholdScale - 1-9 in units of 1% 7 LeftRightLightTurnThreshold - 0-9 in units of Scale 6 holeThresholdScale - 1-9 in units of 1% 5 holeThresholdRight =10; % - 0-9 units of 5% // difference between RbeardLight and RbeardDark for a hole 4 holeThresholdLeft =10; % - 0-9 units of Scale // difference between LbeardLight and LbeardDark for a hole 3 obstacleThresholdScale - 0-9 units of 1% 2 obstacleThresholdRight =20; % - 0-9 units of 5% // difference between RwhiskerLight and RwhiskerDark for an obstacle 1 obstacleThresholdLeft =20; % - 0-9 units of 5% -------------------------------------- Superceded by ReActs 16 bytes for behaves => 8 in 128 bytes sr,sp,srm,spm,mr,mp,mt,u-,u+,(spare 7) two bytes each => 16 bytes, => 8 in 128 bytes bG-<{0},1-8> - Act to be done on hole-tests left & right true bGR<{0},1-8> - Act to be done on hole-test right true bGL<{0},1-8> - Act to be done on hole-test left true bW-<{0},1-8> - Act to be done on Whisker-tests left & right true bWR<{0},1-8> - Act to be done on Whisker-test right true bWL<{0},1-8> - Act to be done on Whisker-test left true bU+<{0},1-8> - Act to be done on Ultrasonic distance <= aware at bU-<{0},1-8> - Act to be done on Ultrasonic distance <= too near ============================================================= ReActs ====== Reactions stored in EEPROM page 3 as 8 slots of 32 bytes, Reactions can have the same commands as Acts and ended with ".". When a sensor test is made in an Act and something is detected then the relevant Reaction is played then the Act continues. Reaction-1 - Reaction if Ultrasonic distance is less than 'aware at' value hence objects farther away than 'aware at' value are ignored Reaction-2 - Reaction if Ultrasonic distance is less than 'too close' value i.e. objects are too close Reaction-3 - Reaction if both Left and Right Whiskers sense an object Reaction-4 - Reaction if Left Whisker senses an object Reaction-5 - Reaction if Right Whisker senses an object Reaction-6 - Reaction if both Left and Right Beard sensors detect a hole Reaction-7 - Reaction if Left Beard sensor detects a hole Reaction-8 - Reaction if Right Beard sensor detects a hole If automatic Ground, Whisker, or Ultrasonic sensing are enabled then testing is done in GetCcmnd ============================================================= BEHAVES - power-on defaults set from current default Behaviour in @EEPROM ======= sense behaves SonarAwareAt is @EEPROM value SonarTooNear is @EEPROM value speed behaves - set in void setup() rollspeed is @EEPROM value pacespeed is @EEPROM value rollspeedmax is @EEPROM value pacespeedmax is @EEPROM value move behaves - set in void setup() init42.h rollby is @EEPROM value, set by B_PM04_Servos or AdjustServos() paceby is @EEPROM value, set by B_PM04_Servos or AdjustServos() turnby is paceby rollC is @EEPROM value, set by B_PM04_Servos or AdjustServos() paceC is @EEPROM value, set by B_PM04_Servos or AdjustServos() react behaves bG is @EEPROM value bW is @EEPROM value bU is @EEPROM value b$ is @EEPROM value varsCons44.h rollC =90; default, AdjustServos39.ino, roll centre = 90 degrees (ie 1500us) => upright paceC =90; default, AdjustServos39.ino, pace centre = 90 degrees (ie 1500us) => feet together Servoframe =20; never changed, Servo frame rate millisecs ============================================================= Behaviour parameters are stored in EEPROM page 0, 8 sets 32 bytes For a new robot slots initialised and slot8 set as default behaviour Note 26 Erollmin - never altered, not used 25 Erollmax - never altered, not used 24 Epacemin - never altered, not used 23 Epacemax - never altered, not used Example of ?B - print all behaviours in EEPROM >?B BEHAVIOUR b1 b2 b3 b4 b5 b6 b7 b8 # BeHave -- -- -- -- -- -- -- -- 31 f_walking 1 1 0 0 0 0 0 0 0=false, 1=true 30 rollC 85 85 85 85 85 85 85 85 servo degrees 29 paceC 89 89 89 89 89 89 89 89 servo degrees 28 rollby 15 15 15 15 15 15 15 15 servo degrees 27 paceby 15 15 15 15 15 15 15 15 servo degrees 22 rname a a a a a a a a A-Z,a-z 21 rgroup 1 1 1 1 1 1 1 1 0-9 20 autoAct 1 1 1 1 1 1 1 1 0-8 19 SonarAwareAt 5 5 5 5 5 5 5 5 0-9, units 5cm or 2inch 18 SonarTooNear 2 2 2 2 2 2 2 2 0-9, units 5cm or 2inch 17 Sonar use cm 1 1 1 1 1 1 1 1 0=false, 1=true 16 rollspeedmax 4 4 4 4 4 4 4 4 1-9 15 pacespeedmax 6 6 6 6 6 6 6 6 1-9 14 rollspeed 1 1 1 1 1 1 1 1 1-9 13 pacespeed 1 1 1 1 1 1 1 1 1-9 12 autosenseG 0 0 0 0 0 0 0 0 0,1 11 autosenseW 0 0 0 0 0 0 0 0 0,1 10 autosenseU 0 0 0 0 0 0 0 0 0,1 -- @Behaviour . . @ . . . . . > ============================================================= Example of ?b - print current behaviour in RAM >?b BA46_Aware robot a1 MsgForMe=1 BeQuiet=0 3 Behaviour 0 walking 1 autoAct 0 autorun 1 rollspeed 1 pacespeed 4 rollspeedmax 6 pacespeedmax 15 rollby 15 paceby 15 turnby 85 rollC 89 paceC 5 SonarAwareAt 2 SonarTooNear 0 autosenseG 0 autosenseW 0 autosenseU > ============================================================= Acts are stored in EEPROM pages 1 and 2 Default is Acts1 in EEPROM page1 Acts are '1' - '8' so '0' can be used to swap to a second Acts page Acts0 is in page2 because Behaviours are in EEPROM page0 (historically behaviours were written before Acts) Example of ?? - print all Acts >?? Act1 GFVBR1. - 6 moves Act2 B2. - 2 moves Act3 Fsu3. - 4 moves Act4 w2V4. - 4 moves Act5 BBB. - 3 moves Act6 WFsu6. - 5 moves Act7 VVw2VV. - 6 moves Act8 veFvoFvbF8. - 10 moves Act01 FFF. - 3 moves Act02 BBB. - 3 moves Act03 RRR. - 3 moves Act04 GWUFsu04. - 8 moves Act05 VV05. - 4 moves Act06 FBBFVevo05. - 10 moves Act07 FBBFVevo05. - 10 moves Act08 FFFBBB. - 6 moves > =============================================================