@47 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 BambinoCommands: 'using TVR010_PicAxe_IR_controller '-------------------------------------------------- ' '[KEY_POWER] stops a learned Act and enters Command mode. ' ends modify mode, ends learning ' it can't stop a subroutine Act ' 'Direction Keys '-------------- '[KEY_UP] ie [Fd] Step Forward '[KEY_DOWN] ie [Bk] Step Backward '[KEY_RIGHT] ie [Rt] Step Right '[KEY_LEFT] ie [Lt] Step Left ' 'Function Keys '------------- '[KEY_BAR] ie [f|] enters learn mode to record key presses ' has to be followed by a number key 1-8 ' = the Act to be remembered ' up to 8 Acts can be learned ' learned Acts can call subroutine Acts 'Acts can chain to other Acts, eg Fd,Bk,2 - chain to Act2 'A learned Act which chains itself repeats forever, 'eg [f|][1][Fd][1][POWER] Act1 will do Fd forever '[KEY_TENT] ie [f^] selects subroutine Acts = SAct, ' has to be followed by a number key 1-8 ' plays SActs, SActs play until the end. ' [KEY_1] is RockAdo ' [KEY_RIGHT] is Roll Right ' [KEY_LEFT] is Roll Left '[KEY_VCROSS] ie [f+] modify USawareAt, UStoonear - not recordable ' [+] set USAwareAt in EEPROM DUSawareAt ' [-] set UStoonear in EEPROM DUStoonear ' [Key_POWER] to quit '[KEY_XCROSS] ie [fX] Dump EEPROM Acts DATA to PC, including Config Data ' 'Act Keys '-------- '[1] to [8] Play an Act '[f^][1] to [f^][8] Play a subroutine Act 'When Recording an Act, ' [1]-[8] record a jump to a new Act ' if [1],[2],[3],[4],[5],[6],[7].[8],[0] are used to jump to ' another Act there is no point in recording more moves because they ' will never be replayed since control is transfered to the new Act, ' just press [KEY_POWER] to end the recording; ' [f^] then [1]-[8] to do and include a Subroutine Act (SAct); ' when the memory slot is full Bambino will beep and recording will end. 'Act8 Autoruns on PowerOn ' On poweron to WANDER with all sensors do [f|][-][+][8][0][Power] ' enter command mode do [f|][8][Power] ' WANDER B_slow do [f|][8][9][1][0][Power] ' run Act1 do [f|][8][1][Power] ' do SAct1 then Act1 do [f|][8][f^][1][1][Power] ' etc 'Act0 is WANDER and cannot be changed ' 'Behaviour Key '------------- '[9] Behaviour mode eg [9][1] set speed slow ' [1] set speed slow ' [2] set speed medium ' [3] set speed fast ' [4] set US behaviour to timid ' [5] set US behaviour to normal ' [6] set US behaviour to bold ' [7] disable Whiskers test ' [8] disable Ultrasonic test ' [9] set US behaviour to User values set by handset ' [KEY_UP] B_faster: - increase speed ' [KEY_0] B_normal: - normal speed ' [KEY_DOWN] B_slower: - decrease speed ' 'Sensor Keys '----------- '[-] enable and test Whisker sensors and re-act, R_Whiskers: '[+] enable and test Ping sensor and re-act, R_Ping: ' 'Activity Key '------------ '[0] WANDER ' ' 'Quirks '------ ' If you are recording Act1 and press [f|][2] then you will start 'to record Act2 and Act1 will be left without placing an end marker. 'If Act1 is then played the new moves will be played then whatever 'moves remained there from before. 'If you enter record mode but press [POWER] before pressing a valid 'Act key [1] - [8] then until you press [POWER] a second time and 'Bambino's eyes glow dim any commands will be recorded in Act #6. 'There is no room left to correct this! '[KEY_POWER]=21 @32bytes per slot =>$2A0 =>$A0 =160 =32 *5 =slot #6 'If you record [F +] to set USuser and [Power] to finish then record 'more commands they will not play because [Power] will end Play. '================================================================= cmnd codes ---------- value key ----- --- 0 [1] Slot 0 Act 1 1 [2] Slot 1 Act 2 2 [3] Slot 2 Act 3 3 [4] Slot 3 Act 4 4 [5] Slot 4 Act 5 5 [6] Slot 5 Act 6 6 [7] Slot 6 Act 7 7 [8] Slot 7 Act 8 autoruns on power on 8 [9] set Behaviour modes 100 [9][1] set speed slow 101 [9][2] set speed medium 102 [9][3] set speed fast 103 [9][4] set US behaviour to timid 104 [9][5] set US behaviour to normal 105 [9][6] set US behaviour to bold 106 [9][7] disable Whiskers test 107 [9][8] disable Ultrasonic test 108 [9][9] set US behaviour to User 109 [9][0] set vitality Behaviour to normal 116 [9][Fd] set vitality Behaviour to faster 117 [9][Bk] set vitality Behaviour to slower 9 [0] WANDER 11 [+] enable & test Ping sensor and re-act, R_Ping: 16 [up] Step Forward 17 [down] Step Backward 18 [right] Step Right 19 [left] Step Left 20 [F X] transfer EEPROM to PC for including in programs 21 [Power] to quit 37 [F +] Modify Mode {when routine included} - not recordable [+] set USAwareAt in DUSawareAt [-] set UStoonear in DUStoonear [Power] to quit 54 [F ^] Subroutine 200 [1] RockADo 218 [KEY_RIGHT] Roll Right 219 [KEY_LEFT] Roll Left 96 [F |] learn an Act, [1-8] selected Act [Power] to quit recording 98 [-] enable & test Whisker sensors and re-act, R_Whiskers: Command Mapping --------------- 0 - 99 direct keys 100 - 199 behaviours 100 B_slow, 101 B_medium, 102 B_fast, 103 B_UStimid, 104 B_USnormal, 105 B_USbold, 106 B_noWhiskers, 107 B_noUS, 108 B_USuser 109 set vitality Behaviour to normal 116 set vitality Behaviour to faster 117 set vitality Behaviour to slower 200 - 254 subroutine Acts 200 RockADo 218 Roll Right for kicking a ball 219 Roll Left for kicking a ball Config Data ----------- SYMBOL DUStoonear =252 'holds user UStoonear, BkBkOtMt if usdist <= UStoonear SYMBOL DUSawareAt =253 'holds user USawareAt, noaction if usdist>USawareAt ELSE Mt SYMBOL DrollC =254 'holds rollC, 100 is roll to the left, 150 is nominal centre SYMBOL DpaceC =255 'holds paceC, 100 is left foot back, 150 is nominal centre