'Baldur_8-overview.bas 40x2 Firmware v3 Baldur is one the Aesir range of four servo biped robots powered by 4-AA cells and controlled by a PicAxe-40x2. Baldur has - an Ultrasonic distance sensor; four optical whiskers which detect obstacles by measuring the amount of reflected light, four ground sensors, two on each front toe; two tilt sensors for tipped-forwards and tipped-backwards; a speaker and red LED; an IR LED to transmit IR commands to other robots; an IR remote control receiver for commands from a Sony Remote control; and a serial interface at 19200 baud to connect to a control computer. There is a toggle switch for main power, a slide switch for servo power, and a reset switch for the PicAxe-40x2. There is a byte wide connector on PortB and an auxiliary connector for the hardware UART Tx On the rear panel is a battery voltmeter with a 'press to read' switch, and a 1.5mm coax-socket for an external 5v/6v PSU which disconnects the battery.. The two blue LEDs on the head glow dim when waiting for a command and bright when.executing a movement command. The LED of any of the four optical sensors will stay on when it has been triggered by an obstacle until its Reaction has finished. The LEDS on the toe sensors are lit if the toes are are on the ground. The Red LED blinks when commands are received or when a sound is made. Commands can be sent in immediate mode or can be remembered by "r" recording as they are acted upon or "l" loaded into EEPROM memory for later execution. There is EEPROM space for 8 15 byte acts each ended by "." in page 1 There is EEPROM space for 7 15 byte acts each ended by "." in page 0 After 16 bytes are recorded then recording will stop For Act7 in page0 if 16 bytes are recoded then byte 16 will be changed to "." An Act without a terminating "." continues in the next act on playback. Acts must be ended by "." or by ";" to continue in next Act.. "Q","q",Esc are translated to ".". Loading into page0 will stop when Act7 is full. Loading into page1 will continue until a "." or ";" is received, and wrap round from Act8 to Act1 until a "." or ";" is received, Acts are invoked by "1" to "8" and "01" to "07". Any Act can jump to another Act or itself. Any Act can include any other Act by "(" and ")". E.g. "l1F." will load Act1 with "F." so "1" will do one step Forwards. "l2(1)2." will load Act2 with "(1)2." so "2" will do Act1 then jump to "2" forever. Reacts, which are triggered by sensor readings, follow the same format as Acts but there was no more EEPROM room and so they are held in a Table in prog0. They can only be changed by editing and reloading prog0. Baldur can look Alive by selecting at random weighted commands in the Mind Table at the start of prog0, mimicking actions from higher level drives. It is also a way to test the.Reactions and ability to get up after falling over. '====================================================