Pev
Savvy Roboteer
Joined: 26 Feb 2006
Posts: 547
Location: UK
|
 Posted: Fri Mar 03, 2006 4:05 pm Post subject: |
 |
|
| Anonymous wrote: | very cool!!!
please upload the program |
Okay this is the code to go up one step:
STEP1:
SPEED 3
'shift forward
MOVE G6A,100, 93, 145, 66, 100, 100
MOVE G6D,100, 92, 145, 68, 100, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C, 83, 44, 80, 100, 100, 100
WAIT
'DELAY 100
'Tilt1
MOVE G6A, 91, 93, 145, 66, 109, 100
MOVE G6D,111, 92, 145, 69, 88, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C,103, 63, 80, 100, 100, 100
WAIT
'DELAY 100
'lift left foot1
MOVE G6A, 91, 156, 59, 66, 113, 100
MOVE G6D,111, 92, 145, 69, 88, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C,103, 63, 80, 100, 100, 100
WAIT
'DELAY 100
'Swing left leg1
MOVE G6A, 91, 156, 59, 152, 113, 100
MOVE G6D,111, 92, 145, 65, 88, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C, 58, 29, 80, 100, 100, 100
WAIT
'DELAY 100
MOVE G6A, 91, 142, 25, 152, 113, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C, 58, 29, 80, 100, 100, 100
MOVE G6D,111, 92, 145, 65, 88, 100
WAIT
'DELAY 100
'Place Left Foot 1
MOVE G6A, 91, 50, 110, 152, 113, 100
MOVE G6D,111, 92, 145, 65, 88, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
MOVE G6C, 58, 29, 80, 100, 100, 100
WAIT
'DELAY 100
'Place Foot 2
MOVE G6A, 91, 49, 125, 135, 111, 100
MOVE G6D,111, 92, 145, 65, 88, 100
MOVE G6C, 58, 29, 80, 100, 100, 100
MOVE G6B, 79, 49, 80, 100, 100, 100
WAIT
'DELAY 100
'Tilt2
MOVE G6A, 99, 42, 125, 160, 111, 100
MOVE G6D, 99, 92, 145, 82, 89, 100
MOVE G6C,128, 77, 80, 100, 100, 100
MOVE G6B,153, 26, 80, 100, 100, 100
WAIT
'DELAY 100
'Shift Forward 1
MOVE G6A, 99, 100, 74, 163, 111, 100
MOVE G6D, 99, 90, 145, 73, 89, 100
MOVE G6B, 96, 58, 80, 100, 100, 100
MOVE G6C,143, 12, 80, 100, 100, 100
WAIT
DELAY 100
'shift weight
MOVE G6A,111, 100, 74, 163, 111, 100
MOVE G6D, 99, 90, 145, 73, 89, 100
MOVE G6B,151, 66, 80, 100, 100, 100
MOVE G6C,143, 12, 80, 100, 100, 100
WAIT
'DELAY 100
'lift right foot
MOVE G6D, 99, 159, 47, 73, 89, 100
MOVE G6A,111, 100, 74, 163, 111, 100
MOVE G6C,143, 12, 80, 100, 100, 100
MOVE G6B,151, 66, 80, 100, 100, 100
WAIT
'DELAY 100
'MOVE right leg forward
MOVE G6D, 99, 159, 47, 142, 92, 100
MOVE G6A,111, 100, 74, 163, 111, 100
MOVE G6C,143, 45, 80, 100, 100, 100
MOVE G6B,151, 66, 80, 100, 100, 100
WAIT
'DELAY 100
'Place Right Foot
MOVE G6D, 89, 81, 94, 152, 92, 100
MOVE G6A,111, 100, 74, 163, 111, 100
MOVE G6C,143, 45, 80, 100, 100, 100
MOVE G6B,151, 66, 80, 100, 100, 100
WAIT
'DELAY 100
'stand1
MOVE G6D,105, 88, 105, 133, 92, 100
MOVE G6A, 97, 100, 101, 128, 105, 100
MOVE G6B,151, 66, 80, 100, 100, 100
MOVE G6C,143, 45, 80, 100, 100, 100
WAIT
'DELAY 100
RETURN
You may want to put the delay statments back in as I am not sure how this will translate to another robonova. I call this subroutine from a key on the remote and the key code is:
GOSUB STEP1
GOSUB standard_pose
GOSUB STEP1
GOSUB standard_pose
GOTO main_exit
The steps are 19mm high and 106mm deep.
Hope this works for you
Pev |
|
£81.80 inc. VAT
