Joe Ambler
==========

'---------------- user commands ----------
'Action cmnds
Z   CON 0  'end of list, null move
F   CON 1  'Forward
B   CON 2  'Back
R   CON 3  'Right turn
L   CON 4  'Left turn
H   CON 5  'Halt, stand to attention
V   CON 6  'Voice, beep 1KHz for 0.1sec
Br  CON 7  'Back with right foot,    for toe bump
Bl  CON 8  'Back with left foot,     for toe bump
fT  CON 9  'footTurn, turn away from leading Foot
mT  CON 10 'memoryTurn, turn same way as last time, use f_TurnedR
oT  CON 11 'otherTurn, turn other way and toggle f_TurnedR
Vt  CON 12 'Voice Tune
Vb  CON 13 'Voice Beep

'Behavioural cmnds
Su      CON 20 'increase speed(+1)  MAX potspeed
Sd      CON 21 'reduce speed(/2)    MIN minpacespeed
tbOn    CON 22 'SensorToeBump on
tbOff   CON 23 'SensorToeBump off
bk      CON 24 'set fb_Fdir to 0 so StepandTurn is stepback
'frustUp CON 25 'frustration, inc Nibble frust
Wlight  CON 25 'walk towards light
Wdark   CON 26 'walk towards dark
Ewoff   CON 27 'Eye Walk off
ttyOn   CON 28 'debug text On
ttyOff  CON 29 'debug text Off
Ew      CON 30 'Eye walk, test and set paceTurn
h0      CON 31 'reduce hurts to zero, otherwise frustration behaviour gets subsumed after next move
usOn    CON 32
usOff   CON 33

'Parameter cmnds
'could use '(ASC 39) for tty comments  ,"'comment'" instead of tty,"comment¬"
w      CON 40 'Wait 1/10 secs in next byte
a      CON 41 'jump to Act in next byte
s      CON 42 'set speeds to next byte, $rp   '$55 is max for servos to follow pulse
              'from Pot(^15) works best with pacerollspeedratio =1
m      CON 43 'set Roll and Step to next byte $rollby,stepby
              'S03 max speed is 45.5us/frame @20ms/frame, max potspeed is 15
              'rollby     <$0-$F> delta roll from rollmin
                'actualrollby =rollby +rollmin   ie rollby=0 => rollC +-rollmin
                'if rollby 7
                  '=>+-(7+15)*10us=*-220us
                  '@ speed 5(10us)=50us
                  '=>440/50*20ms=176ms/STEP  & 9 frames
              'stepby     <$0-$F> '(in 30us units, 15=>450us so pace is 2*450=900us)
                'pacepulse =+-(3*stepby)+paceC
                'ie 150+-45 => 105 - 195 (10us) => 1050 - 1950us
                'if stepby 10 ($A)
                '=>+-300us
                '@ speed 5(10us)=50us
                '=>600/50*20ms=240ms/step   & 12 frames
              'so at speed=5 rollby=7 stepby=10 one step takes 240+176=416ms
              'rolltime/steptime =176/240 =0.73
d      CON 44 'set default Act to next byte
usa    CON 45 'set USaware range(<=) to next low.nib   resolution 2"=>5cm, max 15=>30"
IfusOn CON 46
IfusL  CON 47 'US if Less <param> <Do>; if USRange<USActionRange jump to Act in next byte
IfusLm CON 48 'US if Less mem <Do>; if USRange<USlast jump to Act in next byte
tty    CON 49 'debug text starting in next byte and ending with ¬
'Hurt rule cmnds
IfHLR  CON 50 'test ToesRL   eg IfHLR,hurtingalot,Af2
IfHR   CON 51 'test Toe R
IfHL   CON 52 'test Toe L


'---------------- Acts -- if ended with 'z' are Activities -----------------
'        if not ended with 'z' continue with next Act
'end lists with Z otherwise starts doing next Act!
'Acts can have any legal variable name.
defaultAct  DATA A1  'default Act name done after 'Z', overwritten at init:

Ainit DATA Vt,Vb,V,m,$58,ttyOn,H,Z  'initialisation Act done after PowerOn or Reset if no PicAxe
'ABack DATA B,Z
A15 DATA V,Z                        'Mom - just so we know the switch is on -1 not 0 !!!
'A14 shows asymetric nature of servos, set speed to 1 and walking very even
' set spped above and Rroll is faster than Lroll and completes roll whereas Left doesn't
A14 DATA 'F,w,10,F,w,10,F,V,w,10,B,w,10,B,w,10,B,w,10,Z
A13 DATA 'H,w,2,F,F,H,w,1,B,B,Z
A12 DATA 'F,F,R,R,H,w,2,L,L,B,B,B,H,Z  'roughly F & B about same spot
A11 DATA 'F,F,R,L,L,Z
'A10 DATA s,$66,F,Su,a,A3,Z
A10 DATA 'F,F,F,F,F,F,F,B,B,B,B,B,B,B,Z
A9  DATA 'L,L,R,R,a,A4,Z
'A8  DATA R,R,R,R,R,L,L,L,L,L,Z

A8     DATA
A7     DATA Wdark,a,A5              'US dark walk, jump to A5
A6     DATA Wlight                  'US light walk, drop to A5
A5     DATA tty,"A5¬",Vb,usOn,a,A2  'US walk, jump to A2
A4     DATA Wdark,a,A2              'dark walk, jump to A2
A3     DATA Wlight                  'light walk, drop to A2
A2     DATA tty,"A2¬",tbOn          'SensorT Walk, toe bump on
A1     DATA m,$58                   'set Roll and Step
Walk   DATA Ew,F,Su,IfusOn,USwalk,a,Walk     ''a' preserves behaviours
USwalk DATA IfusL,4,USavoid,a,Walk           '2" resolution =>8"
A0     DATA w,1,Z                    'just wait
'---------------- frustration behavioural Acts -------
  'inhibit sensors until Toe moved back a bit, otherwise just loops to here
Af1  DATA tty,"Af1R¬",h0,tbOff,V,V,V,B,tbOn,mT,mT,Z          'if (hurtsR+hurtsL)>hurting
Af2  DATA tty,"Af2L¬",h0,tbOff,V,V,V,V,V,B,tbOn,B,mT,mT,mT,Z  'if (hurtsR+hurtsL)>hurtalot
'---------------- bump behavioural Acts -------------
  'if toeX bumped then hurtsX += ahurt
  'inhibit sensors until Toe moved back a bit, otherwise just loops to here
AbR  DATA tty,"AbR¬",tbOff,V,Sd,Br,B,tbOn,L,Z        'if hurtsR>hurtalittle
AbL  DATA tty,"AbL¬",tbOff,V,V,Sd,Bl,B,tbOn,R,Z      'if hurtsL>hurtalittle
'---------------- US behavioural Acts -------------
USTfScan  DATA tty,"`USTfScan¬"
          DATA V,fT,IfusLm,USoTscan,IfusL,4,USmT,Z 'TurnScan, using Tf means centre doesn't move (much)
USoTscan  DATA tty,"`USoTscan¬"
          DATA V,V,oT,bk,mT,mT,IfusL,4,USmT,Z      'OtherTurnScan   bk so so stepturn doesn't move closer
USmT      DATA tty,"`USmT¬"
          DATA V,V,V,bk,mT,mT,IfusL,4,USmT,Z       'MemoryTurn      bk so so stepturn doesn't move closer
'USslow    DATA Sd,Z
USback    DATA B,fT             'and test again
'---------------- US behavioural Rules -------------
'Behaviour variable thresholds and BehaviouralAction
'US: ActionRange,Act
USavoid    DATA V,tty,"USavoid¬"
'           DATA frustUp
'UScaution  DATA tty,"caut¬",usIFL,3,USslow
UStooclose DATA tty,"close¬",IfusL,2,USback         'Joe 3
USinway    DATA tty,"way¬",IfusL,4,USTfScan
           DATA Z
'---------------- Tactile behavioural rules ---
HurtRules DATA tty,"Hrules¬"
frus2 DATA IfHLR,hurtingalot,Af2      'L+R >hurtingalot
frus1 DATA IfHLR,hurting,Af1          'L+R >hurting
hurtR DATA IfHR,hurtalittle,AbR              'R >ahurt
hurtL DATA IfHL,hurtalittle,AbL,Z            'L >ahurt
'----------------------------------------------
Bend DATA Z    'end marker to avoid doing the program!
'----------------------------------------------