Primary commands used 012345678 !?#.* ABEFGHLRSUVWX bclrstvw COMMANDS ======== 'Q',[Esc] - quit all, go to command mode '.' - quit current operation - recording, playing, input 'S' - Stop/Start '(' - 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 will show its location in EEPROM when played '0' - use page0 for the next Act or command '!' - use page3=Reacts for the next ReAct or command '1'-'8' the routine or Act to record, replay, load etc '9' - play Autorun 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 'V' - Voice, make a beep, whee 'U' - read Ultrasonic sensor and react to objectRange using reactUObjects() and ReActs in EEPROM 'W' - read Whisker sensors and avoid holes (if any) using reactObstacles() and ReActs in EEPROM 'G' - read Beard sensors and avoid obstacles (if any) using reactHoles() and ReActs in EEPROM 'A' - beAlive() until '.' or Esc or reset // the loop() from B_PM22_BeAlive 'X' - Xplore() until '.' or Esc or reset // Wander() 'E' - Experiment - user routine until '.' or Esc or reset 'vb','ve','vo' choose sound: 'b' bip, 'e' whee, 'o' whoa 'w', '1'-'9' - wait 1 - 9 seconds 's','1'-'9' set speed, both roll and pace speeds set to the same 'u' - speedup, speed up/down enabled, speed is increased by 1 up to max 'd' - speed down, speed up/down enabled, speed is divided by 2 down to 1 'r','1'-'9' set roll speed units of 4 servo degrees 'p','1'-'9' set pace speed units of 4 servo degrees 'm' - set rollspeedmax to current rollspeed, 4 servo degrees 'rm' - set rollspeedmax to current rollspeed 'pm' - set pacespeedmax to current pacespeed 't','a' - turn Away from leading foot, will be used in avoid Acts 'm' - turn Memory (same way as last turn, will be used in avoid Acts 'o' - turn Other way from last time, will be used in avoid Acts 'l' - turn to light 'd' - turn to dark '@l' - turn until @ light '@d' - turn until @ dark 'm','1'-'9' - set probability level of following commands being executed '}' - end of a mind. BEHAVES ( #$@ 012345678 alpqrstuw GUW ) 'b0' - reload current behaviour to RAM BeHaves 'b','1'-'8' - set current default behaviour and copy to RAM BeHaves 's','1'-'8' - save current RAM BeHaviour to EEPROM Behaviour 'l','1'-'8' - load EEPROM behaviour 1-8, at prompt enter BeHave number and BeHave data eg bl4 prompt 30,85. load slot 4 position 30 with 85 and quit loading eg bl5 prompt 30,85,20,2. load slot 5 position 30 with 85 and position 20 with 2 and quit loading '9' - load entry in all behaviours eg bl9 prompt 22,B. load group 'B' to all Behaviours and quit loading eg bl9 prompt 22,B,21,2. load group 'B', name 2 to all Behaviours and quit loading '#','1'-'9' - robot group 1 - 9 'A-z' - robot name A-z 'a','0'-'8' - set Autorun act '1' - '8', '0' no Autorun act 'a','9' - set Autorun act to run when there is nothing else to do, ## turns it off not remembered through reset/power-off - default off 'q' - Quiet - turn off status messages, ## disables Quiet 'v','0','1' - verbose, light level reporting of sensors, 0=off, 1=on 'w0' - turn off walking 'w1' - turn on walking 'wf' - forwards, set stepping direction in L and R, used in Reactions 'wb' - backwards, set stepping direction in L and R, used in Reactions 'p','1'-'9' - set paceby - step length units of 4 servo degrees 't','1'-'9' - set turnby - step length in turns units of 4 servo degrees 'r','1'-'9' - set rollby - roll amount when stepping units of 4 servo degrees 'p+','0'-'9' - alter paceC in current behaviour in RAM - +ve offset from paceC in current behaviour in EEPROM 'p-','0'-'9' - alter paceC in current behaviour in RAM - -ve offset from paceC in current behaviour in EEPROM 'r+','0'-'9' - alter rollC in current behaviour in RAM - +ve offset from rollC in current behaviour in EEPROM 'r-','0'-'9' - alter rollC in current behaviour in RAM - -ve offset from rollC in current behaviour in EEPROM 'f','a' - turn on automatic lean F/B 'f','0'-'9' - set forward lean 'b','a' - turn on automatic lean F/B 'b','0'-'9' - set backward lean 'um+' - set manually SonarAwareAt, units 50mm 'um-' - set manually SonarTooNear, units 50mm 'u+','0'-'9' - set SonarAwareAt, units 50mm 'u-','0'-'9' - set SonarTooNear, units 50mm 'uc0' - Sonar distance in inches 'uc1' - Sonar distance in centimetres 'us' - save current Sonar settings to EEPROM 'G','0','1' - react to Ground holes, 0=off, 1=on 'W','0','1' - react to Whisker obstacles, 0=off, 1=on 'U','0','1' - react to Ultrasonic ojects, 0=off, 1=on '$','0','1' - Automatically sense UWG before every command if reaction enabled, 0=off, 1=on '@' - Adjust Servos SYSTEM 'r',('0'),'1'-'8' - Record moves into selected Act in EEPROM 'c',('0'),'1'-'8','1'-'8' - copy one Act to another Act, xy,x0y,0xy,0x0y 'l',('0'),'1'-'8' - load Act, like 'r' but records commands into EEPROM without playing them '?','hh' - print all Help 'ha' - print Help Act 'hb' - print Help Behaviour 'hs' - print Help System '1'-'8' - Print moves in selected Act '1' - '8', for '01'-'08' enter '0' first 'p' - print current Page '?' - print current Page 'd' - Dump out all acts to the PC, same as 'p' but without the Act and moves numbers. 'b' - print Behaviour - behaviour variables in RAM 'B' - print all Behaviours in EEPROM 'm' - print Mind - all Acts, Behaviour '!' - print ReActs // '$' - print Sensors - USsensor, IRsensors '#','0' - message for all robots, robots silent '1-9' - message for robot group 1-9, robots silent 'A-z' - message for robot name A-z in current rgroup, other robots silent '#' - (default) robots stop, obey all commands and send messages useful to talk to an unknown robot or put all in the stopped state turns off AutoSense, b$1 turns it on '<' - do Default Act '>' - resume Act '?' - all robots reply with their name and group - delayed according to name '.' - end a # session '*','i','M' - initialise EEPROM Mind, ignored if recording The whiskerLEDs glowing dim indicate Bambino is ready for a command. If other keys are pressed, including lower case keys, then the Whisker LEDs will flash badkey(). (MM - mouth glows dim while ready and Beard LEDs used for badkey().) RESPONSES sense44.ino - readLight() // read ambient Light levels 0 - 1023 [a|] sense44.ino - readWhiskers() [W,,|,,] sense44.ino - readBeard() [B,,|,,] sense44.ino - showObstacles() [o%] sense44.ino - showHoles() [h%] =============================================================