'================================================ ' templet program ' ' RR : internal parameter variable / ROBOREMOCON / Action command ' A : temporary variable / REMOCON ' A16,A26 : temporary variable ' '== auto_main =================================== GOTO AUTO FILL 255, 10000 DIM RR AS BYTE DIM A AS BYTE DIM A16 AS BYTE DIM A26 AS BYTE DIM TxOut AS BYTE ' RS-232 output on ETX DIM RxIn AS BYTE 'RS-232 input on ERX DIM RxCount AS BYTE CONST ID = 0 ' 1:0, 2:32, 3:64, 4:96, '== Action command check (50 - 82) IF RR > 50 AND RR < 83 THEN GOTO action_proc RR = 0 PTP SETON PTP ALLON '== motor diretion setting ====================== DIR G6A, 1, 0, 0, 1, 0, 0 DIR G6B, 1, 1, 1, 1, 1, 1 DIR G6C, 0, 0, 0, 0, 0, 0 DIR G6D, 0, 1, 1, 0, 1, 0 '== motor start position read =================== TEMPO 230 MUSIC "CDE" 'TEMPO 200 'MUSIC "DEFD" 'DELAY 5 'MUSIC "EFGE" 'DELAY 5 'MUSIC "FGAF" 'MUSIC "GA+AG2" 'MUSIC "AFGEFDE-D2D" 'DELAY 200 GETMOTORSET G24, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0 '== motor power on ============================= SPEED 5 MOTOR G24 GOSUB standard_pose '================================================ '======gyro code for both forward-backward AND left-right stability================= 'I get the best results with these values but please experiment and send me comments '======================================================================= 'leg sets: gyro2=foot, gyro1=ankle, gyro1=knee, blank, gyro2=hip, blank GYROSET G6A, 2, 1, 1, 0, 2, 0 GYROSET G6D, 2, 1, 1, 0, 2, 0 'arm sets 'gyro1=shoulder servos on each arm, zeros are for unaffected servos GYROSET G6B, 1, 0, 0, 0, 0, 0 GYROSET G6C, 1, 0, 0, 0, 0, 0 '======================================================================= 'leg sets 'moves knee servo forward or back depending on direction of push, hence value of 1 'and the ankle slot is set to zero for backward movement GYRODIR G6A,0,0,1,0,1,0 GYRODIR G6D,1,0,1,0,0,0 'arm sets 'moves shoulders forward or backward depending on direction of push GYRODIR G6B,0,0,0,0,0,0 GYRODIR G6C,0,0,0,0,0,0 '======================================================================= 'leg sets 'this is sensitivity, 0 - 255. 'use this along with the gain adjustment screw on the gyro GYROSENSE G6A, 255,200,200, 0, 200, 0 GYROSENSE G6D, 255,200,200, 0, 200, 0 'arm sets 'I get the best results with these values but feel free to experiment GYROSENSE G6B, 255,0,0, 0, 0, 0 GYROSENSE G6C, 255,0,0, 0, 0, 0 '=====if you need help go to theoddrobot.com or robosavvy.com forums '======================================================================= MAIN: 'GOSUB robot_voltage 'GOSUB robot_tilt '================================ 'Bluetooth I/O with PC TxOut = "T" ETX 9600, TxOut TxOut = "e" ETX 9600, TxOut TxOut = "s" ETX 9600, TxOut TxOut = "t" ETX 9600, TxOut TxOut = " " ETX 9600, TxOut FOR RxCount = 0 TO 4 TxOut = 48 + RxCount 'ASCII 0=48, A=65, a=97 ETX 9600, TxOut NEXT TxOut = "[" ETX 9600, TxOut FOR RxCount = 0 TO 15 ERX 9600, RxIn, NoRetry ETX 9600, RxIn NoRetry: NEXT TxOut = "]" ETX 9600, TxOut '----------------------------- IF RR = 0 THEN GOTO MAIN1 ON RR GOTO MAIN, k1, k2, k3, k4, k5, k6, k7, k8, k9, k10, k11, k12, k13, k14, k15, k16, k17, k18, k19, k20, k21, k22, k23, k24, k25, k26, k27, k28, k29, k30, k31, k32 GOTO main_exit '----------------------------- MAIN1: A = REMOCON(1) A = A - ID ON A GOTO MAIN, k1, k2, k3, k4, k5, k6, k7, k8, k9, k10, k11, k12, k13, k14, k15, k16, k17, k18, k19, k20, k21, k22, k23, k24, k25, k26, k27, k28, k29, k30, k31, k32 GOTO MAIN '------------------------------------------------- action_proc: A = RR - 50 ON A GOTO MAIN, k1, k2, k3, k4, k5, k6, k7, k8, k9, k10, k11, k12, k13, k14, k15, k16, k17, k18, k19, k20, k21, k22, k23, k24, k25, k26, k27, k28, k29, k30, k31, k32 RETURN '----------------------------- main_exit: IF RR > 50 THEN RETURN RR = 0 GOTO MAIN '================================================ k1: GOSUB martial_arts_pose WAIT GOSUB martial_arts_pose2 WAIT GOSUB martial_arts_pose3 WAIT GOSUB martial_arts_pose4 WAIT GOSUB martial_arts_pose5 WAIT GOSUB standard_pose GOTO main_exit k2: GOSUB hans_up DELAY 500 GOSUB standard_pose GOTO main_exit k3: GOSUB sit_down_pose DELAY 1000 GOSUB standard_pose GOTO main_exit k4: GOSUB sit_hans_up DELAY 1000 GOSUB standard_pose GOTO main_exit k5: GOSUB foot_up GOSUB standard_pose GOTO main_exit 'you can make the entire Martial Arts rouitne play sequentially by removing (or comment out (ie. '))the "GOTO main_exit" lines at the end of each "K1" - "K4" code segment. k6: GOSUB body_move GOSUB standard_pose GOTO main_exit k7: GOSUB wing_move GOSUB standard_pose GOTO main_exit k8: GOSUB right_shoot GOSUB standard_pose DELAY 500 GOSUB left_shoot GOSUB standard_pose DELAY 500 GOTO main_exit k9: SPEED 8 GOSUB handstanding DELAY 1000 SPEED 6 GOSUB standard_pose GOTO main_exit 'k10: ' GOSUB fast_walk ' GOSUB standard_pose ' GOTO main_exit ' k10: GOSUB newfastwalk GOSUB standard_pose GOTO main_exit k11: ' ^ 1 GOSUB forward_walk GOSUB standard_pose GOTO main_exit k12: ' _ 1 GOSUB backward_walk GOSUB standard_pose GOTO main_exit k13: ' > 1 SPEED 8 GOSUB right_shift SPEED 6 GOSUB standard_pose GOTO main_exit k14: ' < 1 SPEED 8 GOSUB left_shift SPEED 6 GOSUB standard_pose GOTO main_exit k15: ' A GOSUB left_attack GOSUB standard_pose GOTO main_exit k16: GOSUB sit_down_pose16 GOTO main_exit k17: ' C GOSUB left_forward GOSUB standard_pose GOTO main_exit k18: ' E GOSUB pushup 'TEMPO 230 'MUSIC "C" GOTO main_exit k19: ' P2 GOSUB backward_standup GOSUB standard_pose GOTO main_exit k20: ' B GOSUB right_attack GOSUB standard_pose GOTO main_exit k21: ' ^ 2 GOSUB forward_tumbling GOSUB standard_pose GOTO main_exit k22: ' * GOSUB fastleftturn GOSUB standard_pose GOTO main_exit 'k22: ' * ' GOSUB left_turn ' GOSUB standard_pose ' GOTO main_exit k23: ' F TEMPO 230 MUSIC "D" GOTO main_exit 'k24: '# ' GOSUB right_turn ' GOSUB standard_pose ' GOTO main_exit ' k24: ' # GOSUB fastrightturn GOSUB standard_pose GOTO main_exit k25: ' P1 GOSUB forward_standup GOSUB standard_pose GOTO main_exit k26: ' [] 1 GOSUB sit_down_pose26 GOTO main_exit k27: ' D GOSUB right_forward GOSUB standard_pose GOTO main_exit k28: ' < 2 GOSUB left_tumbling SPEED 10 GOSUB standard_pose GOTO main_exit k29: ' [] 2 GOSUB forward_punch SPEED 10 GOSUB standard_pose GOTO main_exit k30: ' > 2 GOSUB righ_tumbling SPEED 10 GOSUB standard_pose GOTO main_exit k31: ' _ 2 GOSUB back_tumbling SPEED 10 GOSUB standard_pose GOTO main_exit k32: ' G GOSUB flip 'TEMPO 230 'MUSIC "E" GOTO main_exit '================================================ 'robot_voltage: ' [ 10 x Value / 256 = Voltage] 'DIM v AS BYTE 'A = AD(6) 'IF A < 84 THEN ' 5.8v 'FOR v = 0 TO 2 'OUT 52, 1 'DELAY 200 'OUT 52, 0 'DELAY 200 'NEXT v 'RETURN '================================================ robot_tilt: A = AD(2) IF A > 250 THEN RETURN IF A < 30 THEN GOTO tilt_low IF A > 200 THEN GOTO tilt_high RETURN tilt_low: A = AD(2) 'IF A < 30 THEN GOTO forward_standup IF A < 30 THEN GOTO backward_standup RETURN tilt_high: A = AD(2) 'IF A > 200 THEN GOTO backward_standup IF A > 200 THEN GOTO forward_standup RETURN '======================= ========================= sit_down_pose16: IF A16 = 0 THEN GOTO standard_pose16 A16 = 0 SPEED 10 MOVE G6A, 100, 151, 23, 140, 101, 100 MOVE G6D, 100, 151, 23, 140, 101, 100 MOVE G6B, 100, 30, 80, 100, 100, 100 MOVE G6C, 100, 30, 80, 100, 100, 100 WAIT '== motor power off ============================ MOTOROFF G24 TEMPO 230 MUSIC "FEDC" RETURN '================================================ standard_pose16: TEMPO 230 MUSIC "CDE" GETMOTORSET G24, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0 '== motor power on ============================= MOTOR G24 A16 = 1 '================================================ SPEED 10 GOSUB standard_pose RETURN '================================================ '================================================ bow_pose: MOVE G6A, 100, 58, 135, 160, 100, 100 MOVE G6D, 100, 58, 135, 160, 100, 100 MOVE G6B, 100, 30, 80, , , , MOVE G6C, 100, 30, 80, , , , WAIT DELAY 1000 RETURN '================================================ standard_pose: MOVE G6A, 100, 76, 145, 93, 100, 100 MOVE G6D, 100, 76, 145, 93, 100, 100 MOVE G6B, 100, 30, 80, 100, 100, 100 MOVE G6C, 100, 30, 80, 100, 100, 100 WAIT RETURN '================================================ '================================================ hans_up: SPEED 5 MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 168, 150 MOVE G6C, 100, 168, 150 WAIT RETURN '================================================ '================================================ sit_down_pose: SPEED 10 MOVE G6A, 100, 151, 23, 140, 101, 100 MOVE G6D, 100, 151, 23, 140, 101, 100 MOVE G6B, 100, 30, 80, 100, 100, 100 MOVE G6C, 100, 30, 80, 100, 100, 100 WAIT RETURN '========== ====================================== '================================================ sit_hans_up: SPEED 10 MOVE G6A, 100, 151, 23, 140, 101, 100, MOVE G6D, 100, 151, 23, 140, 101, 100 MOVE G6B, 100, 168, 150 MOVE G6C, 100, 168, 150 WAIT RETURN '================================================ '================================================ foot_up: SPEED 5 MOVE G6A, 85, 71, 152, 91, 112, 60, MOVE G6D, 112, 76, 145, 93, 92, 60, MOVE G6B, 100, 40, 80, , , , MOVE G6C, 100, 40, 80, , , , WAIT MOVE G6A, 90, 98, 105, 115, 115, 60, MOVE G6D, 116, 74, 145, 98, 93, 60, MOVE G6B, 100, 95, 100, 100, 100, 100, MOVE G6C, 100, 105, 100, 100, 100, 100, WAIT MOVE G6A, 100, 151, 23, 140, 115, 100, WAIT DELAY 1000 MOVE G6A, 85, 71, 152, 91, 112, 60, MOVE G6D, 112, 76, 145, 93, 92, 60, WAIT RETURN '================================================ '================================================ body_move: SPEED 6 GOSUB body_move1 GOSUB body_move2 GOSUB body_move3 MOVE G6A, 93, 76, 145, 94, 109, 100 MOVE G6D, 93, 76, 145, 94, 109, 100 MOVE G6B, 100, 105, 100, , , , MOVE G6C, 100, 105, 100, , , , WAIT MOVE G6A, 104, 112, 92, 116, 107 MOVE G6D, 79, 81, 145, 95, 108 MOVE G6B, 100, 105, 100 MOVE G6C, 100, 105, 100 WAIT MOVE G6A, 93, 76, 145, 94, 109, 100 MOVE G6D, 93, 76, 145, 94, 109, 100 MOVE G6B, 100, 105, 100, , , , MOVE G6C, 100, 105, 100, , , , WAIT MOVE G6D, 104, 112, 92, 116, 107 MOVE G6A, 79, 81, 145, 95, 108 MOVE G6B, 100, 105, 100 MOVE G6C, 100, 105, 100 WAIT MOVE G6A, 93, 76, 145, 94, 109, 100 MOVE G6D, 93, 76, 145, 94, 109, 100 MOVE G6B, 100, 105, 100, , , , MOVE G6C, 100, 105, 100, , , , WAIT GOSUB body_move3 GOSUB body_move2 GOSUB body_move1 RETURN '================================================ body_move3: MOVE G6A, 93, 76, 145, 94, 109, 100 MOVE G6D, 93, 76, 145, 94, 109, 100 MOVE G6B,100, 35, 90, , , , MOVE G6C,100, 35, 90, , , , WAIT RETURN '================================================ body_move2: MOVE G6D, 110, 92, 124, 97, 93, 70 MOVE G6A, 76, 72, 160, 82, 128, 70 MOVE G6B,100, 35, 90, , , , MOVE G6C,100, 35, 90, , , , WAIT RETURN '================================================ body_move1: MOVE G6A, 85, 71, 152, 91, 112, 60 MOVE G6D, 112, 76, 145, 93, 92, 60 MOVE G6B,100, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT RETURN '================================================ '================================================ wing_move: DIM i AS BYTE SPEED 5 MOVE G6A, 85, 71, 152, 91, 112, 60 MOVE G6D, 112, 76, 145, 93, 92, 60 MOVE G6B,100, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT MOVE G6A, 90, 98, 105, 115, 115, 60 MOVE G6D, 116, 74, 145, 98, 93, 60 MOVE G6B, 100, 150, 150, 100, 100, 100 MOVE G6C, 100, 150, 150, 100, 100, 100 WAIT MOVE G6A, 90, 121, 36, 105, 115, 60 MOVE G6D, 116, 60, 146, 138, 93, 60 MOVE G6B, 100, 150, 150, 100, 100, 100 MOVE G6C, 100, 150, 150, 100, 100, 100 WAIT MOVE G6A, 90, 98, 105, 64, 115, 60 MOVE G6D, 116, 50, 160, 160, 93, 60 MOVE G6B, 145, 110, 110, 100, 100, 100 MOVE G6C, 145, 110, 110, 100, 100, 100 WAIT FOR i = 10 TO 15 SPEED i MOVE G6B, 145, 80, 80, 100, 100, 100 MOVE G6C, 145, 80, 80, 100, 100, 100 WAIT MOVE G6B, 145, 120, 120, 100, 100, 100 MOVE G6C, 145, 120, 120, 100, 100, 100 WAIT NEXT i DELAY 1000 SPEED 6 MOVE G6A, 90, 98, 105, 64, 115, 60 MOVE G6D, 116, 50, 160, 160, 93, 60 MOVE G6B, 100, 160, 180, 100, 100, 100 MOVE G6C, 100, 160, 180, 100, 100, 100 WAIT MOVE G6A, 90, 121, 36, 105, 115, 60 MOVE G6D, 116, 60, 146, 138, 93, 60 MOVE G6B, 100, 150, 150, 100, 100, 100 MOVE G6C, 100, 150, 150, 100, 100, 100 WAIT SPEED 4 MOVE G6A, 90, 98, 105, 115, 115, 60 MOVE G6D, 116, 74, 145, 98, 93, 60 WAIT MOVE G6A, 85, 71, 152, 91, 112, 60 MOVE G6D, 112, 76, 145, 93, 92, 60 MOVE G6B,100, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT RETURN '================================================ '================================================ right_shoot: SPEED 4 MOVE G6A, 112, 56, 180, 79, 104, 100 MOVE G6D, 70, 56, 180, 79, 102, 100 MOVE G6B, 110, 45, 70, 100, 100, 100 MOVE G6C, 90, 45, 70, 100, 100, 100 WAIT right_shoot1: SPEED 6 MOVE G6A, 115, 60, 180, 79, 95, 100 MOVE G6D, 90, 90, 127, 65, 116, 100 MOVE G6B, 80, 45, 70, 100, 100, 100 MOVE G6C, 120, 45, 70, 100, 100, 100 WAIT SPEED 15 HIGHSPEED SETON right_shoot2: MOVE G6A, 115, 52, 180, 79, 95, 100 MOVE G6D, 90, 90, 127, 147, 116, 100 MOVE G6B, 140, 45, 70, 100, 100, 100 MOVE G6C, 60, 45, 70, 100, 100, 100 WAIT DELAY 500 HIGHSPEED SETOFF right_shoot3: SPEED 5 MOVE G6A, 115, 76, 145, 93, 102, 100 MOVE G6D, 70, 76, 145, 93, 104, 100 MOVE G6B, 110, 45, 70, 100, 100, 100 MOVE G6C, 90, 45, 70, 100, 100, 100 WAIT RETURN '=============================================== = left_shoot: SPEED 4 MOVE G6A, 70, 56, 180, 79, 102, 100 MOVE G6D, 112, 56, 180, 79, 104, 100 MOVE G6B, 90, 45, 70, 100, 100, 100 MOVE G6C, 110, 45, 70, 100, 100, 100 WAIT left_shoot1: SPEED 6 MOVE G6A, 90, 90, 127, 65, 116, 100 MOVE G6D, 115, 60, 180, 79, 95, 100 MOVE G6B, 140, 45, 70, 100, 100, 100 MOVE G6C, 60, 45, 70, 100, 100, 100 WAIT SPEED 15 HIGHSPEED SETON left_shoot2: MOVE G6A, 90, 90, 127, 147, 116, 100 MOVE G6D, 115, 52, 180, 79, 95, 100 MOVE G6B, 60, 45, 70, 100, 100, 100 MOVE G6C, 140, 45, 70, 100, 100, 100 WAIT DELAY 500 HIGHSPEED SETOFF left_shoot3: SPEED 5 MOVE G6A, 70, 76, 145, 93, 104, 100 MOVE G6D, 115, 76, 145, 93, 102, 100 MOVE G6B, 90, 45, 70, 100, 100, 100 MOVE G6C, 110, 45, 70, 100, 100, 100 WAIT RETURN '================================================ '================================================ handstanding: GOSUB fall_forward GOSUB standard_pose GOSUB foot_up2 GOSUB standard_pose GOSUB back_stand_up RETURN '================================================ fall_forward: SPEED 10 MOVE G6A, 100, 155, 25, 140, 100, 100 MOVE G6D, 100, 155, 25, 140, 100, 100 MOVE G6B, 130, 50, 85, 100, 100, 100 MOVE G6C, 130, 50, 85, 100, 100, 100 WAIT MOVE G6A, 60, 165, 25, 160, 145, 100 MOVE G6D, 60, 165, 25, 160, 145, 100 MOVE G6B, 150, 60, 90, 100, 100, 100 MOVE G6C, 150, 60, 90, 100, 100, 100 WAIT MOVE G6A, 60, 165, 30, 165, 155, 100 MOVE G6D, 60, 165, 30, 165, 155, 100 MOVE G6B, 170, 10, 100, 100, 100, 100 MOVE G6C, 170, 10, 100, 100, 100, 100 WAIT SPEED 3 MOVE G6A, 75, 165, 55, 165, 155, 100 MOVE G6D, 75, 165, 55, 165, 155, 100 MOVE G6B, 185, 10, 100, 100, 100, 100 MOVE G6C, 185, 10, 100, 100, 100, 100 WAIT SPEED 10 MOVE G6A, 80, 155, 85, 150, 150, 100 MOVE G6D, 80, 155, 85, 150, 150, 100 MOVE G6B, 185, 40, 60, 100, 100, 100 MOVE G6C, 185, 40, 60, 100, 100, 100 WAIT MOVE G6A, 100, 130, 120, 80, 110, 100 MOVE G6D, 100, 130, 120, 80, 110, 100 MOVE G6B, 125, 160, 10, 100, 100, 100 MOVE G6C, 125, 160, 10, 100, 100, 100 WAIT RETURN '================================================ foot_up2: SPEED 6 MOVE G6A, 100, 125, 65, 10, 100, , MOVE G6D, 100, 125, 65, 10, 100, , MOVE G6B, 110, 30, 80, , , , MOVE G6C, 110, 30, 80, , , , SPEED 3 MOVE G6A, 100, 125, 65, 10, 100, , MOVE G6D, 100, 125, 65, 10, 100, , MOVE G6B, 170, 30, 80, , , , MOVE G6C, 170, 30, 80, , , , WAIT DELAY 200 SPEED 6 MOVE G6A, 100, 89, 129, 57, 100, , MOVE G6D, 100, 89, 129, 57, 100, , MOVE G6B, 180, 30, 80, , , , MOVE G6C, 180, 30, 80, , , , WAIT MOVE G6A, 100, 64, 179, 57, 100, , MOVE G6D, 100, 64, 179, 57, 100, , MOVE G6B, 190, 50, 80, , , , MOVE G6C, 190, 50, 80, , , , WAIT DELAY 2000 MOVE G6A, 100, 64, 179, 57, 100, , MOVE G6D, 100, 64, 179, 57, 100, , MOVE G6B, 190, 50, 80, , , , MOVE G6C, 190, 50, 80, , , , WAIT MOVE G6A, 100, 89, 129, 57, 100, , MOVE G6D, 100, 89, 129, 57, 100, , MOVE G6B, 180, 30, 80, , , , MOVE G6C, 180, 30, 80, , , , WAIT SPEED 3 MOVE G6A, 100, 125, 65, 10, 100, , MOVE G6D, 100, 125, 65, 10, 100, , MOVE G6B, 170, 30, 80, , , , MOVE G6C, 170, 30, 80, , , , WAIT SPEED 6 MOVE G6A, 100, 125, 65, 10, 100, , MOVE G6D, 100, 125, 65, 10, 100, , MOVE G6B, 110, 30, 80, , , , MOVE G6C, 110, 30, 80, , , , WAIT RETURN '================================================ back_stand_up: SPEED 10 MOVE G6A, 100, 130, 120, 80, 110, 100 MOVE G6D, 100, 130, 120, 80, 110, 100 MOVE G6B, 150, 160, 10, 100, 100, 100 MOVE G6C, 150, 160, 10, 100, 100, 100 WAIT MOVE G6A, 80, 155, 85, 150, 150, 100 MOVE G6D, 80, 155, 85, 150, 150, 100 MOVE G6B, 185, 40, 60, 100, 100, 100 MOVE G6C, 185, 40, 60, 100, 100, 100 WAIT MOVE G6A, 75, 165, 55, 165, 155, 100 MOVE G6D, 75, 165, 55, 165, 155, 100 MOVE G6B, 185, 10, 100, 100, 100, 100 MOVE G6C, 185, 10, 100, 100, 100, 100 WAIT MOVE G6A, 60, 165, 30, 165, 155, 100 MOVE G6D, 60, 165, 30, 165, 155, 100 MOVE G6B, 170, 10, 100, 100, 100, 100 MOVE G6C, 170, 10, 100, 100, 100, 100 WAIT MOVE G6A, 60, 165, 25, 160, 145, 100 MOVE G6D, 60, 165, 25, 160, 145, 100 MOVE G6B, 150, 60, 90 , 100, 100, 100 MOVE G6C, 150, 60, 90, 100, 100, 100 WAIT MOVE G6A, 100, 155, 25, 140, 100, 100 MOVE G6D, 100, 155, 25, 140, 100, 100 MOVE G6B, 130, 50, 85, 100, 100, 100 MOVE G6C, 130, 50, 85, 100, 100, 100 WAIT RETURN '================================================ '================================================ fast_walk: DIM A10 AS BYTE SPEED 10 MOVE G6B, 100, 30, 90, 100, 100, 100 MOVE G6C, 100, 30, 90, 100, 100, 100 WAIT SPEED 7 fast_run01: MOVE G6A, 90, 72, 148, 93, 110, 70 MOVE G6D, 108, 75, 145, 93, 95, 70 WAIT SPEED 15 fast_run02: MOVE G6A, 90, 95, 105, 115, 110, 70 MOVE G6D, 112, 75, 145, 93, 95, 70 MOVE G6B, 90, 30, 90, 100, 100, 100 MOVE G6C, 110, 30, 90, 100, 100, 100 WAIT SPEED 15 '---------------------------- 4 times FOR A10 = 1 TO 4 fast_run20: MOVE G6A, 100, 80, 119, 118, 106, 100 MOVE G6D, 105, 75, 145, 93, 100, 100 MOVE G6B, 80, 30, 90, 100, 100, 100 MOVE G6C, 120, 30, 90, 100, 100, 100 fast_run21: MOVE G6A, 105, 74, 140, 106, 100, 100 MOVE G6D, 95, 105, 124, 93, 106, 100 MOVE G6B, 100, 30, 90, 100, 100, 100 MOVE G6C, 100, 30, 90, 100, 100, 100 fast_run22: MOVE G6D, 100, 80, 119, 118, 106, 100 MOVE G6A, 105, 75, 145, 93, 100, 100 MOVE G6C, 80, 30, 90, 100, 100, 100 MOVE G6B, 120, 30, 90, 100, 100, 100 fast_run23: MOVE G6D, 105, 74, 140, 106, 100, 100 MOVE G6A, 95, 105, 124, 93, 106, 100 MOVE G6C, 100, 30, 90, 100, 100, 100 MOVE G6B, 100, 30, 90, 100, 100, 100 NEXT A10 '------------------------------ SPEED 8 MOVE G6A, 85, 80, 130, 95, 106, 100 MOVE G6D, 108, 73, 145, 93, 100, 100 MOVE G6B, 80, 30, 90, 100, 100, 100 MOVE G6C, 120, 30, 90, 100, 100, 100 WAIT fast_run03: MOVE G6A, 90, 72, 148, 93, 110, 70 MOVE G6D, 108, 75, 145, 93, 93, 70 WAIT SPEED 5 RETURN '================================================ '================================================ left_turn: SPEED 6 MOVE G6D, 85, 71, 152, 91, 112, 60 MOVE G6A, 112, 76, 145, 93, 92, 60 MOVE G6C, 100, 40, 80, , , , MOVE G6B, 100, 40, 80, , , , WAIT SPEED 9 MOVE G6A, 113, 75, 145, 97, 93, 60 MOVE G6D, 90, 50, 157, 115, 112, 60 MOVE G6B, 105, 40, 70, , , , MOVE G6C, 90, 40, 70, , , , WAIT MOVE G6A, 108, 78, 145, 98, 93, 60 MOVE G6D, 95, 43, 169, 110, 110, 60 MOVE G6B, 105, 40, 70, , , , MOVE G6C, 80, 40, 70, , , , WAIT RETURN '================================================ '================================================ right_turn: SPEED 6 MOVE G6A, 85, 71, 152, 91, 112, 60 MOVE G6D, 112, 76, 145, 93, 92, 60 MOVE G6B, 100, 40, 80, , , , MOVE G6C, 100, 40, 80, , , , WAIT SPEED 9 MOVE G6D, 113, 75, 145, 97, 93, 60 MOVE G6A, 90, 50, 157, 115, 112, 60 MOVE G6C, 105, 40, 70, , , , MOVE G6B, 90, 40, 70, , , , WAIT MOVE G6D, 108, 78, 145, 98, 93, 60 MOVE G6A, 95, 43, 169, 110, 110, 60 MOVE G6C, 105, 40, 70, , , , MOVE G6B, 80, 40, 70, , , , WAIT RETURN '================================================ '================================================ forward_walk: SPEED 5 MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60, SPEED 14 'left up MOVE24 90, 107, 105, 105, 114, 60, 90, 40, 80, , , , 100, 40, 80, , , , 114, 76, 145, 93, 90, 60, '--------------------------------------- 'left down MOVE24 90, 56, 143, 122, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 113, 80, 145, 90, 90, 60, MOVE24 90, 46, 163, 112, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 112, 80, 145, 90, 90, 60, SPEED 10 'left center MOVE24 100, 66, 141, 113, 100, 100, 90, 40, 80, , , , 100, 40, 80, , , , 100, 83, 156, 80, 100, 100, MOVE24 113, 78, 142, 105, 90, 60, 100, 40, 80, , , , 100, 40, 80, , , , 90, 102, 136, 85, 114, 60, SPEED 14 'right up MOVE24 113, 76, 145, 93, 90, 60, 100, 40, 80, , , , 90, 40, 80, , , , 90, 107, 105, 105, 114, 60, 'right down MOVE24 113, 80, 145, 90, 90, 60, 105, 40, 80, , , , 80, 40, 80, , , , 90, 56, 143, 122, 114, 60, MOVE24 112, 80, 145, 90, 90, 60, 105, 40, 80, , , , 80, 40, 80, , , , 90, 46, 163, 112, 114, 60, SPEED 10 'right center MOVE24 100, 83, 156, 80, 100, 100, 100, 40, 80, , , , 90, 40, 80, , , , 100, 66, 141, 113, 100, 100, MOVE24 90, 102, 136, 85, 114, 60, 100, 40, 80, , , , 100, 40, 80, , , , 113, 78, 142, 105, 90, 60, SPEED 14 'left up MOVE24 90, 107, 105, 105, 114, 60, 90, 40, 80, , , , 100, 40, 80, , , , 113, 76, 145, 93, 90, 60, '--------------------------------------- 'left down MOVE24 90, 56, 143, 122, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 113, 80, 145, 90, 90, 60, MOVE24 90, 46, 163, 112, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 112, 80, 145, 90, 90, 60, SPEED 10 'left center MOVE24 100, 66, 141, 113, 100, 100, 90, 40, 80, , , , 100, 40, 80, , , , 100, 83, 156, 80, 100, 100, MOVE24 113, 78, 142, 105, 90, 60, 100, 40, 80, , , , 100, 40, 80, , , , 90, 102, 136, 85, 114, 60, SPEED 14 'right up MOVE24 113, 76, 145, 93, 90, 60, 100, 40, 80, , , , 90, 40, 80, , , , 90, 107, 105, 105, 114, 60, 'right down MOVE24 113, 80, 145, 90, 90, 60, 105, 40, 80, , , , 80, 40, 80, , , , 90, 56, 143, 122, 114, 60, MOVE24 112, 80, 145, 90, 90, 60, 105, 40, 80, , , , 80, 40, 80, , , , 90, 46, 163, 112, 114, 60, SPEED 10 'right center MOVE24 100, 83, 156, 80, 100, 100, 100, 40, 80, , , , 90, 40, 80, , , , 100, 66, 141, 113, 100, 100, MOVE24 90, 102, 136, 85, 114, 60, 100, 40, 80, , , , 100, 40, 80, , , , 113, 78, 142, 105, 90, 60, SPEED 14 'left up MOVE24 90, 107, 105, 105, 114, 60, 90, 40, 80, , , , 100, 40, 80, , , , 113, 76, 145, 93, 90, 60, '--------------------------------------- SPEED 5 MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60, RETURN '================================================ '================================================ left_shift: SPEED 5 GOSUB left_shift1 SPEED 9 GOSUB left_shift2 GOSUB left_shift3 GOSUB left_shift4 SPEED 9 GOSUB left_shift5 GOSUB left_shift6 RETURN '================================================ left_shift1: MOVE G6A, 85, 71, 152, 91, 112, 60, MOVE G6D, 112, 76, 145, 93, 92, 60, MOVE G6B, 100, 40, 80, , , , MOVE G6C, 100, 40, 80, , , , WAIT RETURN '--------------------------- left_shift2: MOVE G6D, 110, 92, 124, 97, 93, 70, MOVE G6A, 76, 72, 160, 82, 128, 70, MOVE G6B, 100, 35, 90, , , , MOVE G6C, 100, 35, 90, , , , WAIT RETURN '--------------------------- left_shift3: MOVE G6A, 93, 76, 145, 94, 109, 100, MOVE G6D, 93, 76, 145, 94, 109, 100, MOVE G6B, 100, 35, 90, , , , MOVE G6C, 100, 35, 90, , , , WAIT RETURN '--------------------------- left_shift4: MOVE G6A, 110, 92, 124, 97, 93, 70, MOVE G6D, 76, 72, 160, 82, 128, 70, MOVE G6B, 100, 35, 90, , , , MOVE G6C, 100, 35, 90, , , , WAIT RETURN '--------------------------- left_shift5: MOVE G6D, 86, 83, 135, 97, 114, 60, MOVE G6A, 113, 78, 145, 93, 93, 60, MOVE G6C, 90, 40, 80, , , , MOVE G6B, 100, 40, 80, , , , WAIT RETURN ' --------------------------- left_shift6: MOVE G6D, 85, 71, 152, 91, 112, 60, MOVE G6A, 112, 76, 145, 93, 92, 60, MOVE G6C, 100, 40, 80, , , , MOVE G6B, 100, 40, 80, , , , WAIT RETURN '================================================ '================================================ sit_down_pose26: IF A26 = 0 THEN GOTO standard_pose26 A26 = 0 SPEED 10 MOVE G6A, 100, 151, 23, 140, 101, 100 MOVE G6D, 100, 151, 23, 140, 101, 100 MOVE G6B, 100, 30, 80, 100, 100, 100 MOVE G6C, 100, 30, 80, 100, 100, 100 WAIT RETURN '================================================ standard_pose26: A26 = 1 MOVE G6A, 100, 76, 145, 93, 100, 100 MOVE G6D, 100, 76, 145, 93, 100, 100 MOVE G6B, 100, 30, 80, 100, 100, 100 MOVE G6C, 100, 30, 80, 100, 100, 100 WAIT RETURN '================================================ '================================================ right_shift: SPEED 5 GOSUB right_shift1 SPEED 9 GOSUB right_shift2 GOSUB right_shift3 GOSUB right_shift4 SPEED 9 GOSUB right_shift5 GOSUB right_shift6 RETURN '================================================ right_shift1: MOVE G6D, 85, 71, 152, 91, 112, 60 MOVE G6A, 112, 76, 145, 93, 92, 60 MOVE G6C, 100, 40, 80, , , , MOVE G6B, 100, 40, 80, , , , WAIT RETURN right_shift2: MOVE G6A, 110, 92, 124, 97, 93, 70 MOVE G6D, 76, 72, 160, 82, 128, 70 MOVE G6B,100, 35, 90, , , , MOVE G6C,100, 35, 90, , , , WAIT RETURN right_shift3: MOVE G6A, 93, 76, 145, 94, 109, 100 MOVE G6D, 93, 76, 145, 94, 109, 100 MOVE G6B,100, 35, 90, , , , MOVE G6C,100, 35, 90, , , , WAIT RETURN right_shift4: MOVE G6D, 110, 92, 124, 97, 93, 70 MOVE G6A, 76, 72, 160, 82, 128, 70 MOVE G6B,100, 35, 90, , , , MOVE G6C,100, 35, 90, , , , WAIT RETURN right_shift5: MOVE G6A, 86, 83, 135, 97, 114, 60 MOVE G6D, 113, 78, 145, 93, 93, 60 MOVE G6B, 90, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT RETURN right_shift6: MOVE G6A, 85, 71, 152, 91, 112, 60 MOVE G6D, 112, 76, 145, 93, 92, 60 MOVE G6B,100, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT RETURN '================================================ '================================================ backward_walk: SPEED 5 GOSUB backward_walk1 SPEED 13 GOSUB backward_walk2 SPEED 7 GOSUB backward_walk3 GOSUB backward_walk4 GOSUB backward_walk5 SPEED 13 GOSUB backward_walk6 SPEED 7 GOSUB backward_walk7 GOSUB backward_walk8 GOSUB backward_walk9 SPEED 13 GOSUB backward_walk2 SPEED 5 GOSUB backward_walk1 RETURN '================================================ backward_walk1: MOVE G6A, 85, 71, 152, 91, 112, 60 MOVE G6D, 112, 76, 145, 93, 92, 60 MOVE G6B,100, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT RETURN backward_walk2: MOVE G6A, 90, 107, 105, 105, 114, 60 MOVE G6D, 113, 78, 145, 93, 90, 60 MOVE G6B, 90, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT RETURN backward_walk9: MOVE G6A, 90, 56, 143, 122, 114, 60 MOVE G6D, 113, 80, 145, 90, 90, 60 MOVE G6B, 80, 40, 80, , , , MOVE G6C,105, 40, 80, , , , WAIT RETURN backward_walk8: MOVE G6A, 100, 62, 146, 108, 100, 100 MOVE G6D, 100, 88, 140, 86, 100, 100 MOVE G6B, 90, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT RETURN backward_walk7: MOVE G6A, 113, 76, 142, 105, 90, 60 MOVE G6D, 90, 96, 136, 85, 114, 60 MOVE G6B,100, 40, 80, , , , MOVE G6C,100, 40, 80, , , , WAIT RETURN backward_walk6: MOVE G6D, 90, 107, 105, 105, 114, 60 MOVE G6A, 113, 78, 145, 93, 90, 60 MOVE G6C,90, 40, 80, , , , MOVE G6B,100, 40, 80, , , , WAIT RETURN backward_walk5: MOVE G6D, 90, 56, 143, 122, 114, 60 MOVE G6A, 113, 80, 145, 90, 90, 60 MOVE G6C,80, 40, 80, , , , MOVE G6B,105, 40, 80, , , , WAIT RETURN backward_walk4: MOVE G6D, 100, 62, 146, 108, 100, 100 MOVE G6A, 100, 88, 140, 86, 100, 100 MOVE G6C,90, 40, 80, , ,, MOVE G6B,100, 40, 80, , , , WAIT RETURN backward_walk3: MOVE G6D, 113, 76, 142, 105, 90, 60 MOVE G6A, 90, 96, 136, 85, 114, 60 MOVE G6C,100, 40, 80, , , , MOVE G6B,100, 40, 80, , , , WAIT RETURN '================================================ '================================================ forward_tumbling: SPEED 8 GOSUB standard_pose MOVE G6A, 100, 155, 20, 140, 100, 100 MOVE G6D, 100, 155, 20, 140, 100, 100 MOVE G6B, 130, 50, 85, 100, 100, 100 MOVE G6C, 130, 50, 85, 100, 100, 100 WAIT MOVE G6A, 60, 165, 30, 165, 155, 100 MOVE G6D, 60, 165, 30, 165, 155, 100 MOVE G6B, 170, 10, 100, 100, 100, 100 MOVE G6C, 170, 10, 100, 100, 100, 100 WAIT MOVE G6A, 75, 165, 55, 165, 155, 100 MOVE G6D, 75, 165, 55, 165, 155, 100 MOVE G6B, 185, 10, 100, 100, 100, 100 MOVE G6C, 185, 10, 100, 100, 100, 100 WAIT MOVE G6A, 80, 155, 85, 150, 150, 100 MOVE G6D, 80, 155, 85, 150, 150, 100 MOVE G6B, 185, 40, 60, 100, 100, 100 MOVE G6C, 185, 40, 60, 100, 100, 100 WAIT MOVE G6A, 100, 130, 120, 80, 110, 100 MOVE G6D, 100, 130, 120, 80, 110, 100 MOVE G6B, 130, 160, 10, 100, 100, 100 MOVE G6C, 130, 160, 10, 100, 100, 100 WAIT MOVE G6A, 100, 160, 110, 140, 100, 100 MOVE G6D, 100, 160, 110, 140, 100, 100 MOVE G6B, 140, 70, 20, 100, 100, 100 MOVE G6C, 140, 70, 20, 100, 100, 100 WAIT SPEED 15 MOVE G6A, 100, 56, 110, 26, 100, 100 MOVE G6D, 100, 71, 177, 162, 100, 100 MOVE G6B, 170, 40, 50, 100, 100, 100 MOVE G6C, 170, 40, 50, 100, 100, 100 WAIT MOVE G6A, 100, 62, 110, 15, 100, 100 MOVE G6D, 100, 71, 128, 113, 100, 100 MOVE G6B, 190, 40, 50, 100, 100, 100 MOVE G6C, 190, 40, 50, 100, 100, 100 WAIT SPEED 15 MOVE G6A, 100, 55, 110, 15, 100, 100 MOVE G6D, 100, 55, 110, 15, 100, 100 MOVE G6B, 190, 40, 50, 100, 100, 100 MOVE G6C, 190, 40, 50, 100, 100, 100 WAIT SPEED 10 MOVE G6A, 100, 110, 100, 15, 100, 100 MOVE G6D, 100, 110, 100, 15, 100, 100 MOVE G6B, 170, 160, 115, 100, 100, 100 MOVE G6C, 170, 160, 115, 100, 100, 100 WAIT MOVE G6A, 100, 170, 70, 15, 100, 100 MOVE G6D, 100, 170, 70, 15, 100, 100 MOVE G6B, 190, 170, 120, 100, 100, 100 MOVE G6C, 190, 170, 120, 100, 100, 100 WAIT MOVE G6A, 100, 170, 30, 110, 100, 100 MOVE G6D, 100, 170, 30, 110, 100, 100 MOVE G6B, 190, 40, 60, 100, 100, 100 MOVE G6C, 190, 40, 60, 100, 100, 100 WAIT GOSUB sit_pose GOSUB standard_pose RETURN '================================================ sit_pose: SPEED 10 MOVE G6A,100, 151, 23, 140, 101, 100, MOVE G6D,100, 151, 23, 140, 101, 100, MOVE G6B,100, 30, 80, 100, 100, 100, MOVE G6C,100, 30, 80, 100, 100, 100, WAIT RETURN '================================================ '================================================ left_tumbling: SPEED 8 MOVE G6A, 100, 135, 60, 123, 100, 100 MOVE G6D, 100, 135, 60, 123, 100, 100 MOVE G6B, 100, 120, 140, 100, 100, 100 MOVE G6C, 100, 120, 140, 100, 100, 100 WAIT DELAY 100 SPEED 3 MOVE G6A, 114, 135, 60, 123, 105, 100 MOVE G6D, 88, 110, 91, 116, 100, 100 MOVE G6B, 100, 120, 140, 100, 100, 100 MOVE G6C, 100, 120, 140, 100, 100, 100 WAIT DELAY 100 MOVE G6A, 114, 135, 60, 123, 105, 100 MOVE G6D, 89, 135, 60, 123, 100, 100 MOVE G6B, 100, 120, 140, 100, 100, 100 MOVE G6C, 100, 120, 140, 100, 100, 100 WAIT MOVE G6A, 120, 135, 60, 123, 110, 100 MOVE G6D, 89, 135, 60, 123, 130, 100 MOVE G6B, 100, 120, 140, 100, 100, 100 MOVE G6C, 100, 120, 140, 100, 100, 100 WAIT SPEED 4 MOVE G6A, 120, 135, 60, 123, 120, 100 MOVE G6D, 89, 135, 60, 123, 158, 100 MOVE G6B, 100, 165, 185, 100, 100, 100 MOVE G6C, 100, 165, 185, 100, 100, 100 WAIT SPEED 8 MOVE G6A, 120, 131, 60, 123, 185, 100 MOVE G6D, 120, 131, 60, 123, 183, 100 MOVE G6B, 100, 165, 185, 100, 100, 100 MOVE G6C, 100, 165, 185, 100, 100, 100 WAIT DELAY 200 SPEED 5 MOVE G6A, 120, 131, 60, 123, 185, 100 MOVE G6D, 120, 131, 60, 123, 183, 100 MOVE G6B, 100, 120, 145, 100, 100, 100 MOVE G6C, 100, 120, 145, 100, 100, 100 WAIT SPEED 6 MOVE G6A, 86, 112, 73, 127, 101, 100 MOVE G6D, 105, 131, 60, 123, 183, 100 MOVE G6B, 100, 120, 145, 100, 100, 100 MOVE G6C, 100, 120, 145, 100, 100, 100 WAIT SPEED 3 MOVE G6A, 86, 118, 73, 127, 101, 100 MOVE G6D, 112, 131, 62, 123, 133, 100 MOVE G6B, 100, 80, 80, 100, 100, 100 MOVE G6C, 100, 80, 80, 100, 100, 100 WAIT SPEED 3 MOVE G6A, 88, 115, 86, 115, 90, 100 MOVE G6D, 107, 135, 62, 123, 113, 100 MOVE G6B, 100, 80, 80, 100, 100, 100 MOVE G6C, 100, 80, 80, 100, 100, 100 WAIT SPEED 4 MOVE G6A, 100, 135, 60, 123, 100, 100 MOVE G6D, 100, 135, 60, 123, 100, 100 MOVE G6B, 100, 80, 80, 100, 100, 100 MOVE G6C, 100, 80, 80, 100, 100, 100 WAIT RETURN '================================================ '================================================ forward_punch: SPEED 15 MOVE G6A, 92, 100, 110, 100, 107, 100 MOVE G6D, 92, 100, 110, 100, 107, 100 MOVE G6B, 190, 150, 10, 100, 100, 100 MOVE G6C, 190, 150, 10, 100, 100, 100 WAIT SPEED 15 HIGHSPEED SETON MOVE G6B, 190, 10, 75, 100, 100, 100 MOVE G6C, 190, 140, 10, 100, 100, 100 WAIT DELAY 500 MOVE G6B, 190, 140, 10, 100, 100, 100 MOVE G6C, 190, 10, 75, 100, 100, 100 WAIT DELAY 500 MOVE G6A, 92, 100, 113, 100, 107, 100 MOVE G6D, 92, 100, 113, 100, 107, 100 MOVE G6B, 190, 150, 10, 100, 100, 100 MOVE G6C, 190, 150, 10, 100, 100, 100 WAIT HIGHSPEED SETOFF MOVE G6A, 100, 115, 90, 110, 100, 100 MOVE G6D, 100, 115, 90, 110, 100, 100 MOVE G6B, 100, 80, 60, 100, 100, 100 MOVE G6C, 100, 80, 60, 100, 100, 100 WAIT RETURN '================================================ '================================================ righ_tumbling: SPEED 8 MOVE G6A, 100, 135, 60, 123, 100, 100 MOVE G6D, 100, 135, 60, 123, 100, 100 MOVE G6B, 100, 120, 140, 100, 100, 100 MOVE G6C, 100, 120, 140, 100, 100, 100 WAIT DELAY 100 SPEED 3 MOVE G6A, 83, 110, 91, 116, 100, 100 MOVE G6D, 114, 135, 60, 123, 105, 100 MOVE G6B, 100, 120, 140, 100, 100, 100 MOVE G6C, 100, 120, 140, 100, 100, 100 WAIT DELAY 100 MOVE G6A, 89, 135, 60, 123, 100, 100 MOVE G6D, 114, 135, 60, 123, 105, 100 MOVE G6B, 100, 120, 140, 100, 100, 100 MOVE G6C, 100, 120, 140, 100, 100, 100 WAIT MOVE G6A, 89, 135, 60, 123, 130, 100 MOVE G6D, 120, 135, 60, 123, 110, 100 MOVE G6B, 100, 120, 140, 100, 100, 100 MOVE G6C, 100, 120, 140, 100, 100, 100 WAIT SPEED 4 MOVE G6A, 89, 135, 60, 123, 158, 100 MOVE G6D, 120, 135, 60, 123, 120, 100 MOVE G6B, 100, 165, 185, 100, 100, 100 MOVE G6C, 100, 165, 185, 100, 100, 100 WAIT SPEED 8 MOVE G6A, 120, 131, 60, 123, 183, 100 MOVE G6D, 120, 131, 60, 123, 185, 100 MOVE G6B, 100, 165, 185, 100, 100, 100 MOVE G6C, 100, 165, 185, 100, 100, 100 WAIT DELAY 200 SPEED 5 MOVE G6A, 120, 131, 60, 123, 183, 100 MOVE G6D, 120, 131, 60, 123, 185, 100 MOVE G6B, 100, 120, 145, 100, 100, 100 MOVE G6C, 100, 120, 145, 100, 100, 100 WAIT SPEED 6 MOVE G6A, 105, 131, 60, 123, 183, 100 MOVE G6D, 86, 112, 73, 127, 101, 100 MOVE G6B, 100, 120, 145, 100, 100, 100 MOVE G6C, 100, 120, 145, 100, 100, 100 WAIT SPEED 3 MOVE G6A, 112, 131, 62, 123, 133, 100 MOVE G6D, 86, 118, 73, 127, 101, 100 MOVE G6B, 100, 80, 80, 100, 100, 100 MOVE G6C, 100, 80, 80, 100, 100, 100 WAIT SPEED 3 MOVE G6A, 107, 135, 62, 123, 113, 100 MOVE G6D, 88, 115, 89, 115, 90, 100 MOVE G6B, 100, 80, 80, 100, 100, 100 MOVE G6C, 100, 80, 80, 100, 100, 100 WAIT SPEED 4 MOVE G6A, 100, 135, 60, 123, 100, 100 MOVE G6D, 100, 135, 60, 123, 100, 100 MOVE G6B, 100, 80, 80, 100, 100, 100 MOVE G6C, 100, 80, 80, 100, 100, 100 WAIT RETURN '================================================ '================================================ back_tumbling: SPEED 8 GOSUB standard_pose MOVE G6A, 100, 170, 71, 23, 100, 100 MOVE G6D, 100, 170, 71, 23, 100, 100 MOVE G6B, 80, 50, 70, 100, 100, 100 MOVE G6C, 80, 50, 70, 100, 100, 100 WAIT MOVE G6A, 100, 133, 71, 23, 100, 100 MOVE G6D, 100, 133, 71, 23, 100, 100 MOVE G6B, 10, 96, 15, 100, 100, 100 MOVE G6C, 10, 96, 14, 100, 100, 100 WAIT MOVE G6A, 100, 133, 49, 23, 100, 100 MOVE G6D, 100, 133, 49, 23, 100, 100 MOVE G6B, 45, 116, 15, 100, 100, 100 MOVE G6C, 45, 116, 14, 100, 100, 100 WAIT MOVE G6A, 100, 133, 49, 23, 100, 100 MOVE G6D, 100, 70, 180, 160, 100, 100 MOVE G6B, 45, 50, 70, 100, 100, 100 MOVE G6C, 45, 50, 70, 100, 100, 100 WAIT SPEED 15 MOVE G6A, 100, 133, 180, 160, 100, 100 MOVE G6D, 100, 133, 180, 160, 100, 100 MOVE G6B, 10, 50, 70, 100, 100, 100 MOVE G6C, 10, 50, 70, 100, 100, 100 WAIT HIGHSPEED SETON MOVE G6A, 100, 95, 180, 160, 100, 100 MOVE G6D, 100, 95, 180, 160, 100, 100 MOVE G6B, 160, 50, 70, 100, 100, 100 MOVE G6C, 160, 50, 70, 100, 100, 100 WAIT HIGHSPEED SETOFF MOVE G6A, 100, 130, 120, 80, 110, 100 MOVE G6D, 100, 130, 120, 80, 110, 100 MOVE G6B, 130, 160, 10, 100, 100, 100 MOVE G6C, 130, 160, 10, 100, 100, 100 WAIT GOSUB back_standing RETURN '================================================ back_standing: SPEED 10 MOVE G6A, 100, 130, 120, 80, 110, 100 MOVE G6D, 100, 130, 120, 80, 110, 100 MOVE G6B, 150, 160, 10, 100, 100, 100 MOVE G6C, 150, 160, 10, 100, 100, 100 WAIT MOVE G6A, 80, 155, 85, 150, 150, 100 MOVE G6D, 80, 155, 85, 150, 150, 100 MOVE G6B, 185, 40, 60, 100, 100, 100 MOVE G6C, 185, 40, 60, 100, 100, 100 WAIT MOVE G6A, 75, 165, 55, 165, 155, 100 MOVE G6D, 75, 165, 55, 165, 155, 100 MOVE G6B, 185, 10, 100, 100, 100, 100 MOVE G6C, 185, 10, 100, 100, 100, 100 WAIT MOVE G6A, 60, 165, 30, 165, 155, 100 MOVE G6D, 60, 165, 30, 165, 155, 100 MOVE G6B, 170, 10, 100, 100, 100, 100 MOVE G6C, 170, 10, 100, 100, 100, 100 WAIT MOVE G6A, 60, 165, 25, 160, 145, 100 MOVE G6D, 60, 165, 25, 160, 145, 100 MOVE G6B, 150, 60, 90, 100, 100, 100 MOVE G6C, 150, 60, 90, 100, 100, 100 WAIT MOVE G6A, 100, 155, 25, 140, 100, 100 MOVE G6D, 100, 155, 25, 140, 100, 100 MOVE G6B, 130, 50, 85, 100, 100, 100 MOVE G6C, 130, 50, 85, 100, 100, 100 WAIT RETURN '================================================ '================================================ left_attack: SPEED 7 GOSUB left_attack1 SPEED 12 HIGHSPEED SETON MOVE G6A, 98, 157, 20, 134, 110, 100 MOVE G6D, 57, 115, 77, 125, 134, 100 MOVE G6B, 107, 135, 108, 100, 100, 100 MOVE G6C, 112, 92, 99, 100, 100, 100 WAIT DELAY 1000 HIGHSPEED SETOFF SPEED 15 GOSUB sit_pose RETURN '================================================ left_attack1: MOVE G6A, 85, 71, 152, 91, 107, 60 MOVE G6D, 108, 76, 145, 93, 100, 60 MOVE G6B, 100, 40, 80, , , , MOVE G6C, 100, 40, 80, , , , WAIT RETURN '================================================ '================================================ right_attack: SPEED 7 GOSUB right_attack1 SPEED 12 HIGHSPEED SETON MOVE G6D, 98, 157, 20, 134, 110, 100 MOVE G6A, 57, 115, 77, 125, 134, 100 MOVE G6B, 112, 92, 99, 100, 100, 100 MOVE G6C, 107, 135, 108, 100, 100, 100 WAIT DELAY 1000 HIGHSPEED SETOFF SPEED 15 GOSUB sit_pose RETURN '================================================ right_attack1: MOVE G6D, 85, 71, 152, 91, 107, 60 MOVE G6A, 108, 76, 145, 93, 100, 60 MOVE G6C, 100, 40, 80, , , , MOVE G6B, 100, 40, 80, , , , WAIT RETURN '================================================ '================================================ left_forward: SPEED 7 MOVE G6A, 85, 71, 152, 91, 107, 60 MOVE G6D, 108, 76, 145, 93, 100, 60 MOVE G6B, 130, 40, 80, , , , MOVE G6C, 70, 40, 80, , , , WAIT SPEED 12 HIGHSPEED SETON MOVE G6A, 107, 164, 21, 125, 93 MOVE G6D, 66, 163, 85, 65, 130 MOVE G6B, 189, 40, 77 MOVE G6C, 50, 72, 86 WAIT DELAY 1000 HIGHSPEED SETOFF GOSUB sit_pose RETURN '================================================ '=========================================== ===== right_forward: SPEED 7 MOVE G6D, 85, 71, 152, 91, 107, 60 MOVE G6A, 108, 76, 145, 93, 100, 60 MOVE G6C, 130, 40, 80, , , , MOVE G6B, 70, 40, 80, , , , WAIT SPEED 10 HIGHSPEED SETON MOVE G6D, 107, 164, 21, 125, 93 MOVE G6A, 66, 163, 85, 65, 130 MOVE G6C, 189, 40, 77 MOVE G6B, 50, 72, 86 WAIT DELAY 1000 HIGHSPEED SETOFF GOSUB sit_pose RETURN '================================================ '================================================ forward_standup: SPEED 10 MOVE G6A, 100, 130, 120, 80, 110, 100 MOVE G6D, 100, 130, 120, 80, 110, 100 MOVE G6B, 150, 160, 10, 100, 100, 100 MOVE G6C, 150, 160, 10, 100, 100, 100 WAIT MOVE G6A, 80, 155, 85, 150, 150, 100 MOVE G6D, 80, 155, 85, 150, 150, 100 MOVE G6B, 185, 40, 60, 100, 100, 100 MOVE G6C, 185, 40, 60, 100, 100, 100 WAIT MOVE G6A, 75, 165, 55, 165, 155, 100 MOVE G6D, 75, 165, 55, 165, 155, 100 MOVE G6B, 185, 10, 100, 100, 100, 100 MOVE G6C, 185, 10, 100, 100, 100, 100 WAIT MOVE G6A, 60, 165, 30, 165, 155, 100 MOVE G6D, 60, 165, 30, 165, 155, 100 MOVE G6B, 170, 10, 100, 100, 100, 100 MOVE G6C, 170, 10, 100, 100, 100, 100 WAIT MOVE G6A, 60, 165, 25, 160, 145, 100 MOVE G6D, 60, 165, 25, 160, 145, 100 MOVE G6B, 150, 60, 90, 100, 100, 100 MOVE G6C, 150, 60, 90, 100, 100, 100 WAIT MOVE G6A, 100, 155, 25, 140, 100, 100 MOVE G6D, 100, 155, 25, 140, 100, 100 MOVE G6B, 130, 50, 85, 100, 100, 100 MOVE G6C, 130, 50, 85, 100, 100, 100 WAIT GOSUB standard_pose RETURN '================================================ '============================= =================== backward_standup: SPEED 10 MOVE G6A, 100, 10, 100, 115, 100, 100 MOVE G6D, 100, 10, 100, 115, 100, 100 MOVE G6B, 100, 130, 10, 100, 100, 100 MOVE G6C, 100, 130, 10, 100, 100, 100 WAIT MOVE G6A, 100, 10, 83, 140, 100, 100 MOVE G6D, 100, 10, 83, 140, 100, 100 MOVE G6B, 20, 130, 10, 100, 100, 100 MOVE G6C, 20, 130, 10, 100, 100, 100 WAIT MOVE G6A, 100, 126, 60, 50, 100, 100 MOVE G6D, 100, 126, 60, 50, 100, 100 MOVE G6B, 20, 30, 90, 100, 100, 100 MOVE G6C, 20, 30, 90, 100, 100, 100 WAIT MOVE G6A, 100, 165, 70, 15, 100, 100 MOVE G6D, 100, 165, 70, 15, 100, 100 MOVE G6B, 30, 20, 95, 100, 100, 100 MOVE G6C, 30, 20, 95, 100, 100, 100 WAIT MOVE G6A, 100, 165, 40, 100, 100, 100 MOVE G6D, 100, 165, 40, 100, 100, 100 MOVE G6B, 110, 70, 50, 100, 100, 100 MOVE G6C, 110, 70, 50, 100, 100, 100 WAIT GOSUB standard_pose RETURN '================================================= '================================================ 'MARTIAL ARTS TEST DEMO (START) 'By: Matt Bauer 'BAUER Independents 'http://www.bauerindependents.com 'nerds@earthlink.net 2-13-06 martial_arts_pose: HIGHSPEED SETON SPEED 15 'Martial Arts Pose (MAP) right MOVE G24, 92, 110, 85, 122, 109, , 100, 177, 163, , , , 100, 88, 132, , , , 60, 61, 162, 94, 130, HIGHSPEED SETOFF WAIT DELAY 500 'MAP transition (slow) SPEED 3 MOVE G24, 74, 65, 142, 107, 140, , 100, 177, 163, , , , 102, 88, 132, , , , 86, 70, 147, 105, 95, WAIT 'MAP combo HIGHSPEED SETON SPEED 15 MOVE G24, 74, 66, 142, 108, 140, , 189, 92, 97, , , , 158, 23, 50, , , , 89, 69, 144, 106, 91, WAIT 'rn_4: MOVE G24, 100, 75, 135, 115, 102, , 145, 115, 71, , , , 160, 102, 60, , , , 99, 68, 142, 117, 97, WAIT DELAY 400 'rn_5: MOVE G24, 103, 64, 113, 156, 98, , 156, 44, 33, , , , 153, 34, 50, , , , 83, 112, 111, 115, 115, WAIT HIGHSPEED SETOFF WAIT DELAY 800 'MAP transitionraise arms (slow) SPEED 6 MOVE G24, 94, 83, 98, 137, 99, , 68, 144, 125, , , , 86, 127, 127, , , , 81, 116, 97, 110, 122, WAIT 'rn_7: HIGHSPEED SETON SPEED 15 MOVE G24, 109, 126, 47, 146, 91, , 189, 96, 101, , , , 29, 180, 190, , , , 69, 147, 100, 77, 127, WAIT HIGHSPEED SETOFF WAIT DELAY 1000 'MAP tranition casual movements SPEED 4 MOVE G24, 82, 42, 141, 131, 119, , 189, 96, 101, , , , 31, 180, 190, , , , 101, 113, 93, 113, 95, SPEED 10 MOVE G24, 84, 57, 138, 130, 117, , 160, 24, 58, , , , 157, 38, 75, , , , 99, 63, 126, 138, 95, WAIT 'MAP transition casual movements SPEED 4 MOVE G24, 86, 82, 125, 108, 101, , 76, 157, 180, , , , 85, 75, 139, , , , 97, 113, 94, 111, 113, WAIT DELAY 300 'MAP left defend pose RETURN martial_arts_pose2: HIGHSPEED SETON SPEED 14 MOVE G24, 80, 72, 155, 83, 132, , 176, 103, 92, , , , 36, 170, 190, , , , 98, 66, 164, 82, 86, DELAY 600 WAIT HIGHSPEED SETOFF WAIT 'MAP arms up SPEED 10 MOVE G24, 87, 61, 165, 90, 118, , 109, 159, 131, , , , 100, 141, 122, , , , 106, 53, 188, 75, 87, WAIT MUSIC "E" 'as code indicator durring troublshooting DELAY 200 RETURN martial_arts_pose3: 'MAP kneel down attack HIGHSPEED SETON SPEED 12 MOVE G24, 103, 122, 59, 134, 88, , 177, 34, 45, , , , 187, 74, 73, , , , 60, 120, 103, 93, 146, WAIT DELAY 300 'rn_13: MOVE G24, 116, 111, 61, 156, 87, , 185, 96, 93, , , , 11, 183, 179, , , , 64, 121, 103, 111, 130, WAIT DELAY 300 HIGHSPEED SETOFF WAIT RETURN martial_arts_pose4: '(A) MAP casual defencive pose SPEED 5 MOVE G24, 92, 85, 104, 125, 93, , 189, 10, 15, , , , 187, 91, 97, , , , 80, 108, 92, 118, 131, WAIT '(B) MAP back and fouth ballance movements (linked to previous) SPEED 3 MOVE G24, 83, 77, 123, 110, 99, , 189, 14, 15, , , , 182, 92, 98, , , , 91, 116, 82, 116, 123 < BR> WAIT '(C) MAP back and fouth ballance movements (linked to previous) SPEED 3 MOVE G24, 88, 73, 118, 122, 98, , 181, 14, 15, , , , 180, 87, 98, , , , 87, 101, 90, 126, 124, WAIT '(D) MAP back and fouth ballance movements (linked to previous) MOVE G24, 93, 89, 86, 138, 101, , 181, 14, 15, , , , 170, 88, 95, , , , 79, 104, 83, 129, 123, WAIT '(E) MAP back and fouth ballance movements (linked to previous) MOVE G24, 81, 72, 116, 128, 106, , 190, 10, 15, , , , 187, 97, 101, , , , 92, 105, 76, 138, 115, WAIT '(A) MAP back and fouth ballance movements (linked to previous) MOVE G24, 92, 85, 104, 125, 93, , 189, 10, 15, , , , 187, 91, 97, , , , 80, 108, 92, 118, 131, WAIT ' 'MAP transition casual SPEED 6 MOVE G24, 108, 86, 103, 129, 90, , 104, 163, 157, , , , 102, 109, 145, , , , 71, 72, 139, 111, 127, WAIT RETURN martial_arts_pose5: GOSUB map_right_attack 'As found in the default Overall Template Program DELAY 100 'MAP clap-like sequense SPEED 15 MOVE G24, 101, 65, 148, 100, 99, , 190, 10, 44, , , , 190, 10, 42, , , , 98, 63, 153, 99, 99, WAIT SPEED 8 MOVE G24, 101, 65, 148, 100, 99, , 190, 66, 12, , , , 190, 66, 14, , , , 98, 63, 153, 99, 99, WAIT GOSUB standard_pose WAIT RETURN '================================================ '================================================ map_sit_pose: MOVE G6A, 99, 164, 23, 114, 99 MOVE G6D, 99, 166, 21, 113, 98 MOVE G6B, 170, 55, 45 MOVE G6C, 117, 55, 68 WAIT RETURN '================================================ '================================================ map_stand_pose: MOVE G6A, 98, 78, 111, 131, 100 MOVE G6D, 93, 69, 118, 137, 105 MOVE G6B, 189, 23, 45 MOVE G6C, 174, 26, 71 RETURN '================================================ '================================================ map_right_attack: SPEED 7 GOSUB map_right_attack1 HIGHSPEED SETON SPEED 12 MOVE G6A, 58, 115, 77, 125, 134 MOVE G6D, 93, 157, 20, 134, 110 MOVE G6B, 125, 79, 99 MOVE G6C, 107, 135, 108 WAIT DELAY 1000 HIGHSPEED SETOFF SPEED 15 GOSUB map_sit_pose RETURN '================================================ map_right_attack1: MOVE G6D, 85, 71, 152, 91, 107, 60 MOVE G6A, 108, 76, 145, 93, 100, 60 MOVE G6C, , , , , , , MOVE G6B, , , , , , , WAIT RETURN '================================================ ' 'MARTIAL ARTS TEST DEMO (END) '***************pushup ******************************** 'to run the push-ups, run the routine pushup pushup: SPEED 10 GOSUB sit2 'lean forward MOVE G6A, 98, 161, 26, 160, 103, 100 MOVE G6B,180, 17, 98, , , MOVE G6C,177, 20, 91, , , MOVE G6D, 99, 158, 27, 157, 102, 100 WAIT 'hands down MOVE G6A,100, 163, 60, 154, 102, MOVE G6B,180, 17, 98, , , MOVE G6C,177, 20, 91, , , MOVE G6D,100, 164, 63, 148, 100, WAIT 'extend legs MOVE G6A,100, 61, 157, 74, 105, MOVE G6D,100, 61, 167, 68, 99, WAIT FOR i = 0 TO 5 'bend arms MOVE G6A,100, 61, 157, 74, 105, MOVE G6B,180, 89, 11, 100, 100, 100 MOVE G6C,177, 84, 11, 100, 100, 100 MOVE G6D,100, 61, 166, 68, 98, 100 WAIT 'straighten arms MOVE G6B,181, 17, 98, , , MOVE G6C,177, 22, 92, , , WAIT NEXT i GOSUB one_hand_pushup RETURN '********************************************************* 'stand up from forward pushup standup: 'legs out SPEED 15 MOVE G6A, 76, 165, 54, 162, 156, MOVE G6B,181, 17, 98, , , MOVE G6C,177, 22, 92, , , MOVE G6D, 76, 165, 54, 162, 156, WAIT 'tilt body back MOVE G6A, 76, 165, 54, 162, 156, 100 MOVE G6B,163, 17, 98, 100, 100, 100 MOVE G6C,163, 17, 98, 100, 100, 100 MOVE G6D, 76, 165, 54, 162, 156, 100 WAIT ' lean back for stand up MOVE G6A, 60, 164, 21, 162, 136, MOVE G6B,145, 17, 98, 100, 100, 100 MOVE G6C,145, 17, 98, 100, 100, 100 MOVE G6D, 60, 164, 21, 162, 136, WAIT GOSUB standard_pose RETURN '*******************one hand pushup******************************** one_hand_pushup: 'spread left leg MOVE G6A,100, 60, 156, 100, 162, 100 MOVE G6C,160, 13, 88, 100, 100, 100 MOVE G6D,103, 59, 162, 71, 96, 100 WAIT 'lift left arm MOVE G6B,181, 169, 178, 100, 100, 100 WAIT FOR i = 0 TO 5 'bend arms MOVE G6C,177, 84, 11, 100, 100, 100 WAIT 'straighten arms MOVE G6C,177, 22, 92, , , WAIT NEXT i 'move left arm back MOVE G6B,180, 17, 98, , , WAIT GOSUB standup RETURN '*************************************** 'Sit Sit2: MOVE G6A, 97, 156, 26, 130, 102, MOVE G6B,100, 96, 99, 100, 100, 100 MOVE G6C,100, 102, 98, 100, 100, 100 MOVE G6D, 97, 161, 27, 128, 104, WAIT RETURN '*************************************** begin_pushup: SPEED 10 GOSUB sit2 'lean forward MOVE G6A, 98, 161, 26, 160, 103, 100 MOVE G6B,180, 17, 98, , , MOVE G6C,177, 20, 91, , , MOVE G6D, 99, 158, 27, 157, 102, 100 WAIT 'hands down MOVE G6A,100, 163, 60, 154, 102, MOVE G6B,180, 17, 98, , , MOVE G6C,177, 20, 91, , , MOVE G6D,100, 164, 63, 148, 100, WAIT 'extend legs MOVE G6A,100, 61, 157, 74, 105, MOVE G6D,100, 61, 167, 68, 99, WAIT RETURN '================================================= newfastwalk: GOSUB newinit PTP SETOFF PTP ALLOFF HIGHSPEED SETON DIM walkcount AS BYTE walkcount = 0 SPEED 5 MOVE G6A, 99, 74, 145, 93, 101 MOVE G6D, 99, 74, 145, 93, 101 WAIT DELAY 200 newfastwalk_1: MOVE G6D, 99, 86, 126, 113, 101 MOVE G6A, 99, 82, 140, 91, 101 MOVE G6D, 99, 73, 140, 99, 101 MOVE G6A, 99, 86, 128, 112, 101 MOVE G6D, 99, 82, 140, 92, 101 MOVE G6A, 99, 73, 140, 99, 101 walkcount = walkcount + 1 IF walkcount < 5 THEN GOTO newfastwalk_1 MOVE G6D, 94, 92, 126, 119, 101 MOVE G6D, 99, 70, 140, 103, 101 '±âº»ÀÚ¼¼ MOVE G6A, 99, 76, 145, 93, 101 MOVE G6D, 99, 76, 145, 93, 101 HIGHSPEED SETOFF PTP SETON PTP ALLON RETURN fastrightturn: GOSUB newinit HIGHSPEED SETON SPEED 6 MOVE G6D, 99, 86, 165, 98, 101 MOVE G6A, 99, 66, 125, 88, 106 WAIT MOVE G6D, 99, 76, 145, 93, 101 MOVE G6A, 99, 76, 145, 93, 101 WAIT HIGHSPEED SETOFF RETURN fastleftturn: GOSUB newinit HIGHSPEED SETON SPEED 6 MOVE G6A, 99, 86, 165, 98, 101 MOVE G6D, 99, 66, 125, 88, 106 WAIT MOVE G6A, 99, 76, 145, 93, 101 MOVE G6D, 99, 76, 145, 93, 101 WAIT HIGHSPEED SETOFF RETURN newinit: DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 RETURN '========================================== flip: SPEED 10 '>sets speed for all motors MOVE G6A, 100, 76, 145, 93, 100, 100 '>moves group of motors (G) of 6 and is group A, therefore G6A... MOVE G6D, 100, 76, 145, 93, 100, 100 MOVE G6B, 100, 30, 80, 100, 100, 100 MOVE G6C, 100, 30, 80, 100, 100, 100 WAIT '================= 'PWM 2,25 '> controls Pulse Width Modulation ports (dont worry about this it is just for my LEDs) '==wait for user to move away== DELAY 2500 '===================== '==lean back and arms out forward== SPEED 10 MOVE G6A, 100, 73, 145, 83, 100 MOVE G6D, 100, 73, 145, 83, 100 MOVE G6B, 11, 188, 98 MOVE G6C, 11, 188, 98 WAIT '======================== '==ankle tilt and then "jump" to arms== SPEED 15 HIGHSPEED SETON MOVE G6A, 109, 102, 185, 158, 99 MOVE G6D, 109, 102, 185, 158, 99 MOVE G6B, 10, 185, 104 MOVE G6C, 10, 185, 104 WAIT '========================== '==wait for momentum to kick in== DELAY 150 '====================== '======================================= '=lands on hands and feet: MOVE G6A, 99, 103, 101, 10, 98 MOVE G6D, 99, 103, 101, 10, 98 MOVE G6B, 190, 185, 104 MOVE G6C, 190, 185, 104 WAIT '======================================= HIGHSPEED SETOFF SPEED 10 '==bring legs underneath== MOVE G6A,100, 165, 70, 15, 100, 100 MOVE G6D,100, 165, 70, 15, 100, 100 '================== '==reposition== MOVE G6A,100, 165, 40, 100, 100, 120 MOVE G6D,100, 165, 40, 100, 100, 120 WAIT '========== DELAY 100 SPEED 8 '==standard_pose====================== MOVE G6A, 100, 76, 145, 93, 100, 100 MOVE G6D, 100, 76, 145, 93, 100, 100 MOVE G6B, 100, 30, 80, 100, 100, 100 MOVE G6C, 100, 30, 80, 100, 100, 100 WAIT '================================== PWM 2,0 PWM 0,25 SPEED 14 '==arms up== MOVE G6A, 100, 76, 145, 93, 100, 100 MOVE G6D, 100, 76, 145, 93, 100, 100 MOVE G6B, 100, 160, 85, 100, 100, 100 MOVE G6C, 100, 160, 85, 100, 100, 100 WAIT DELAY 150 GOSUB standard_pose GOSUB bow_pose GOSUB standard_pose GOSUB bow_pose GOSUB standard_pose RETURN '=====================================================