Hi all member of this forum ! I have any questions to make .
I have making any sequence in my humanoid whit seq-32, exported in eprom and create .bas file for bb2 whit atom pro.
Now i wont understand because my seqindex is different when i send the command whit bb2 to ssc-32 . Seqindex 0=1 1=2 all move +1 at real seqindex!
When i don’t repeat any movement is possible to go in standard pose?
Thanks in advance and i apologize for my English .
This is a structure of my code.
[code]Steps Wordtable $0426, $0DFB, $1488, $1D9D, $23A2, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $8412, $894D, $933B, $9A6C, $A467, $AC42, $B3AA, $BB85, $C11A, $CC01, $D432, $DC26, $D801, $D805, |
$0DD5, $14BB, $1DB1, $2483, $8331, $88E1, $93A2, $A369, $C18A, $C001, $C005, |
$0DFB, $1488, $1D80, $2385, $83C3, $894D, $933B, $A467, $C0C6, $C001, $C001, |
$0424, $0DD5, $23DA, $9A51, $A3F6, $A001, $A001, |
$0426, $0DB9, $149F, $1D80, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $92F9, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D801, $D801, |
$03DA, $0DFB, $1488, $2385, $45D5, $933B, $A467, $A001, $A005, |
$0483, $0E0D, $144B, $2483, $844B, $898A, $92DC, $A3DA, $A001, $A005, |
$0424, $0DD5, $1488, $23DA, $46CD, $83C3, $894D, $933B, $A3F6, $A001, $A001, |
$0426, $0DFB, $1488, $1D64, $2385, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A51, $A44B, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D801, $D801, |
$1DB1, $23DF, $3952, $46EF, $4CD7, $53DA, $5C12, $A385, $B26C, $B001, $B00F, |
$244B, $3C26, $46CD, $4BE8, $5392, $5C26, $A3BE, $B49F, $BED2, $CA33, $D44B, $D001, $D00D, |
$1D80, $2385, $A44B, $B3AA, $BB85, $CC01, $D432, $D001, $D001, |
$03DA, $0DD5, $149F, $1D80, $2369, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $8412, $894D, $933B, $9A88, $A42E, $AC83, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D801, $D801, |
$0E62, $142E, $1D64, $88FE, $99C3, $9801, $9801, |
$0D64, $14BB, $92C0, $9001, $9001, |
$0E46, $1488, $1E0D, $888D, $93BE, $9AA4, $9801, $9801, |
$0E0D, $14D7, $8952, $9369, $9001, $9001, |
$0DD5, $149F, $1D80, $894D, $933B, $9A88, $9801, $9801, |
$0426, $0DFB, $1488, $1D9D, $23A2, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A6C, $A3F6, $AC4B, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D801, $D801, |
$04D7, $0E29, $144B, $1DB1, $849F, $9A88, $9801, $9801, |
$03F6, $0DD5, $152C, $1E46, $842E, $896E, $9315, $9001, $9001, |
$0404, $0DB9, $14D7, $1D80, $834D, $891A, $9369, $9A51, $9801, $9801, |
$03F6, $149F, $1D64, $83A2, $88C5, $99FB, $9801, $9801, |
$0426, $0DFB, $1488, $1D9D, $83C3, $894D, $933B, $9A6C, $9801, $9801, |
$0426, $0DB9, $14BB, $1D64, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A88, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D801, $D801, |
$1D48, $92DC, $99C3, $9801, $9801, |
$1D64, $933B, $9A88, $9801, $9801, |
$152C, $1E29, $9B4D, $9801, $9801, |
$14BB, $1D64, $9A88, $9801, $9801, |
$1D48, $92DC, $99C3, $9801, $9801, |
$1D80, $933B, $9A88, $9801, $9801, |
$152C, $1E29, $9B4D, $9801, $9801, |
$14BB, $1D64, $9A88, $9801, $9801, |
$0426, $0DB9, $14BB, $1D64, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A88, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D801, $D801, |
$0424, $0DFB, $14F4, $1DB1, $23A2, $83A2, $89DF, $92A4, $9A17, $A467, $AC4B, $C250, $C001, $C008, |
$0D2C, $1510, $1C12, $898A, $8801, $880B, |
$0D10, $152C, $1BF6, $842E, $8936, $933B, $9A50, $A3DA, $A001, $A005, |
$0DFB, $1488, $1D80, $83C3, $894D, $9A51, $A3F6, $C0C6, $C001, $C00B, |
$C0C6, $C001, $C001, |
$0424, $0DD5, $1488, $1D80, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D801, $D801, |
$0426, $0DFB, $1488, $1DB1, $2412, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$DC26, $D801, $D802, |
$DC26, $D801, $D806, |
$0426, $0D9D, $14D7, $1D9D, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $896E, $92F9, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$0DD5, $142E, $1D48, $88C5, $99C3, $9802, $9802, |
$0D80, $149F, $1D2C, $88E1, $99A7, $9802, $9802, |
$0E46, $14D7, $1E29, $8936, $93A2, $9A88, $9802, $9802, |
$0E0D, $896E, $9331, $9002, $9002, |
$0D9D, $1D80, $898A, $92F9, $9002, $9002, |
$0426, $0D80, $14D7, $1D9D, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $92F9, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$03DA, $0DD5, $149F, $1D80, $2369, $8412, $933B, $9A88, $A42E, $AC83, $A802, $A802, |
$0E62, $142E, $1D64, $88FE, $9A17, $B3A2, $B002, $B002, |
$0D64, $14BB, $8936, $92C0, $9002, $9002, |
$0E46, $1488, $1E0D, $8938, $9369, $9A6C, $9802, $9802, |
$0E0D, $14D7, $8936, $B3AA, $B002, $B002, |
$0DD5, $149F, $1D80, $894D, $933B, $9A88, $9802, $9802, |
$0426, $0D80, $14D7, $1D9D, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $92F9, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$03DA, $0DD5, $149F, $1D80, $2369, $8412, $933B, $9A88, $A42E, $AC83, $A802, $A802, |
$0E62, $142E, $1D64, $88FE, $99C3, $9802, $9802, |
$0D64, $14BB, $92C0, $9002, $9002, |
$0E46, $1488, $1E0D, $888D, $93BE, $9AA4, $9802, $9802, |
$0E0D, $14D7, $8952, $9369, $9002, $9002, |
$0DD5, $149F, $1D80, $894D, $933B, $9A88, $9802, $9802, |
$0426, $0DFB, $1488, $1DB1, $2412, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$03F6, $23A2, $3BDA, $8412, $A412, $BBDA, $B802, $B802, |
$0369, $3B85, $470B, $88A9, $93DA, $9ADC, $A3F6, $B34D, $BB4D, $B802, $B802, |
$03F6, $0E0D, $1DF1, $46D2, $8385, $8936, $9369, $9A6C, $B3AA, $B002, $B002, |
$0E46, $13DA, $1D64, $3C9F, $46CD, $8412, $891A, $9A51, $B3DA, $BC2E, $B802, $B802, |
$0DF1, $1467, $1DB9, $3CD7, $88C5, $99DF, $BBF6, $C0C5, $C002, $C002, |
$0426, $0DFB, $1488, $1DB1, $2412, $3C26, $83C3, $894D, $933B, $9A51, $B3AA, $BB85, $C0C6, $C002, $C002, |
$0424, $0DFB, $1488, $1DB1, $2385, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A51, $A44B, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$03F6, $0DD5, $1483, $1D80, $23A2, $3BDA, $8412, $8952, $A412, $B2DC, $BBDA, $B802, $B802, |
$0385, $0E0D, $1DB9, $3BBE, $896E, $93DA, $9AF9, $BB4D, $B802, $B802, |
$03F6, $0E29, $1D80, $3BDA, $8952, $933B, $9A51, $BBDA, $B802, $B802, |
$0E62, $13BE, $1DB9, $3C12, $842E, $888D, $9331, $996E, $A3F6, $BB85, $B802, $B802, |
$0DF1, $1467, $1D64, $3C83, $834D, $88E1, $92DC, $998A, $BBDA, $B802, $B802, |
$0D9D, $144B, $1D10, $3C67, $8385, $88FE, $9315, $99FB, $BC12, $B802, $B802, |
$0DD5, $1483, $1D80, $3BDA, $8412, $8952, $933B, $9A51, $A412, $B3AA, $BBDA, $B802, $B802, |
$0426, $0DFB, $1488, $1DB1, $2412, $2BA2, $340D, $3C26, $45D5, $4A6C, $5392, $5C26, $83C3, $894D, $933B, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$0E46, $1412, $359D, $4510, $48A9, $544B, $89A7, $92D7, $A3A2, $B34D, $B001, $B021, |
$0DFB, $1488, $340D, $46CD, $4BE8, $5392, $894D, $933B, $A3F6, $B3AA, $B001, $B001, |
$0426, $0DFB, $1488, $1DB1, $2412, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C16E, $CD64, $D3F6, $DC26, $D802, $D802, |
$0467, $0DF1, $1580, $1E9A, $244B, $3233, $88A9, $93DA, $A3A2, $B42E, $C233, $CED2, $D432, $D001, $D021, |
$0426, $0DFB, $1488, $1D9D, $2412, $340D, $894D, $933B, $9A88, $A3F6, $B3AA, $C0C6, $CC01, $C801, $C801, |
$0426, $0D80, $14D7, $1D80, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $92F9, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$0E7E, $13F6, $1CD7, $8385, $891A, $92DC, $99A7, $A3DA, $A002, $A002, |
$0D64, $14D7, $1D48, $83F6, $88FE, $92F9, $A3F6, $A002, $A002, |
$042E, $0E0D, $152C, $1E46, $23F6, $83C3, $888D, $93BE, $9ADC, $9802, $9802, |
$03F6, $0E29, $14F4, $1E62, $23BE, $898A, $9331, $9002, $9002, |
$0426, $0D80, $14D7, $1D80, $23DA, $894D, $92F9, $9A51, $9802, $9802, |
$0426, $0DB9, $14BB, $1DB1, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $933B, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D806, $D806, |
$0CBB, $16B6, $1E9A, $8A6C, $90E1, $98FE, $A412, $A004, $A023, |
$B580, $B004, $B043, |
$B233, $B004, $B043, |
$33F6, $B385, $B004, $B043, |
$35B9, $3004, $3043, |
$3646, $4412, $488D, $52C0, $B2C0, $B004, $B043, |
$449F, $4855, $5385, $5003, $5041, |
$442E, $52DC, $5001, $5012, |
$467E, $49F9, $5662, $5004, $5043, |
$0DB9, $14BB, $1DB1, $340D, $46CD, $4BE8, $5392, $894D, $933B, $9A51, $A3F6, $B3AA, $B004, $B043, |
$03F6, $0DD5, $1483, $1D80, $23A2, $2BA2, $340D, $3BDA, $46CD, $4BE8, $5392, $5C26, $8412, $8952, $933B, $9A51, $A412, $AC42, $B3AA, $BBDA, $C0C6, $CC01, $D432, $DC26, $D801, $D801, |
$03A2, $8385, $88E1, $9B15, $9801, $9801, |
$89A7, $8801, $8801, |
$0D80, $1510, $1C9F, $83BE, $8952, $9A51, $9801, $9801, |
$0D10, $0801, $0801, |
$03F6, $0DD5, $1483, $1D80, $8412, $8001, $8001, |
$0426, $0DB9, $149F, $1D80, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $92F9, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$1D64, $842E, $88FE, $99A7, $A467, $B49F, $B002, $B005, |
$1D80, $83C3, $894D, $9A51, $A3F6, $B3AA, $B002, $B005, |
$0426, $0DB9, $149F, $1D80, $23DA, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $83C3, $894D, $92F9, $9A51, $A3F6, $AC42, $B3AA, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$03A2, $0E29, $14BB, $1E9A, $8467, $896E, $933B, $9ADC, $B26C, $B002, $B005, |
$0426, $0DB9, $149F, $1D80, $83C3, $894D, $92F9, $9A51, $B3AA, $B002, $B005, |
$03F6, $0D64, $149F, $1CBB, $23A2, $2BA2, $340D, $3C26, $46CD, $4BE8, $5392, $5C26, $8412, $891A, $92F9, $99FB, $A42E, $AC42, $B3F6, $BB85, $C0C6, $CC01, $D432, $DC26, $D802, $D802, |
$0DF1, $1E0D, $896E, $9315, $9AC0, $A3F6, $B331, $B002, $B002, |
$0426, $0DB9, $1D80, $23DA, $83C3, $894D, $92F9, $9A51, $B3AA, $B002, $B002
SeqPos Wordtable $0000, |
$0037, |
$006F, |
$00AA, |
$00E6, |
$012D, |
$016F, |
$01B4, |
$01CE, |
$01EE, |
$0229, |
$0273, |
$02BB, |
$0318, |
$0382, |
$03B4, |
$03EC, |
$0437, |
$048A, |
$04BF, |
$04E9, |
$0519, |
$0547
SSC32 con p11
;PS2 Controller / BotBoard II (PS2 controller => pin 12, 13, 14, 15)
DAT con P12
CMD con P13
SEL con P14
CLK con P15
DeadZone con 28
PadMode con $79
;-------------Variables
DualShock var Byte(7)
DS2Mode var Byte
LastButton var Byte(2)
SeqIndex var Word
Index var Word
LastServo var Byte
TmpServo var Byte
TmpValue var Word
DejaVu var bit
;-------------------------------------------------------------------------------------
; Main Loop
Main:
;-------------------------------------------------------------------------------------
; Query the current state of the PS2 buttons.
;Ps2Query
DualShock(Index) = 128
LastServo = 99
DejaVu = 0
high CLK
LastButton(0) = 255
LastButton(1) = 255
low SEL
shiftout CMD,CLK,FASTLSBPRE,$1\8]
shiftin DAT,CLK,FASTLSBPOST,[DS2Mode\8]
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$1\8,$42\8]
shiftin DAT,CLK,FASTLSBPOST,[DualShock(0)\8, DualShock(1)\8, DualShock(2)\8, DualShock(3)\8, |
DualShock(4)\8, DualShock(5)\8, DualShock(6)\8]
high SEL
pause 1
if DS2Mode <> PadMode then
low SEL
shiftout CMD,CLK,FASTLSBPRE,$1\8,$43\8,$0\8,$1\8,$0\8] ;CONFIG_MODE_ENTER
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;SET_MODE_AND_LOCK
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$4D\8,$00\8,$00\8,$01\8,$FF\8,$FF\8,$FF\8,$FF\8] ;VIBRATION_ENABLE
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8] ;SET_DS2_NATIVE_MODE
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8] ;CONFIG_MODE_EXIT_DS2_NATIVE
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;CONFIG_MODE_EXIT
high SEL
pause 1
goto main
endif
;------------------------------------------------------------------------------------------------------------
; Now process the new PS2 input.
if (DualShock(2).bit3 = 0) and LastButton(1).bit3 then ;R1 Button test
endif
if (DualShock(2).bit2 = 0) and LastButton(1).bit2 then;L1 Button test
endif
if (DualShock(2).bit1 = 0) and LastButton(1).bit1 then;R2 Button test
endif
if (DualShock(2).bit0 = 0) and LastButton(1).bit0 then;L2 Button test
endif
if (DualShock(2).bit5 = 0) and LastButton(1).bit5 then;Triangle Button test
seqIndex = 9
Gosub PlaySeq
endif
if (DualShock(2).bit4 = 0) and LastButton(1).bit4 then;Circle Button test
seqIndex = 14
Gosub PlaySeq
endif
if (DualShock(2).bit6 = 0) and LastButton(1).bit6 then;Cross Button test
seqIndex = 6
Gosub PlaySeq
endif
if (DualShock(2).bit7 = 0) and LastButton(1).bit7 then;Square Button test
seqIndex = 15
Gosub PlaySeq
endif
if (DualShock(1).bit0 = 0) and LastButton(0).bit0 then;Select Button test
endif
if (DualShock(1).bit3 = 0) and LastButton(0).bit3 then;Start Button test
seqIndex = 21
Gosub PlaySeq
endif
if (DualShock(1).bit1 = 0) and LastButton(0).bit1 then;L3 Button test
endif
if (DualShock(1).bit2 = 0) and LastButton(0).bit2 then;R3 Button test (Horn)
endif
if (DualShock(1).bit4 = 0) and LastButton(0).bit4 then;Up Button test
seqIndex = 3
Gosub PlaySeq
endif
if (DualShock(1).bit6 = 0) and LastButton(0).bit6 then;Down Button test
seqIndex = 5
Gosub PlaySeq
endif
if (DualShock(1).bit5 = 0) and LastButton(0).bit5 then;Right Button test
seqIndex = 1
Gosub PlaySeq
endif
if (DualShock(1).bit7 = 0) and LastButton(0).bit7 then;Left Button test
seqIndex = 0
Gosub PlaySeq
endif
; maybe process the 4 analog values from two joysticks
if DualShock(Index) > (128 + DeadZone) then
DualShock(Index) = DualShock(Index) - DeadZone/2
elseif DualShock(Index) < (128 - DeadZone)
DualShock(Index) = DualShock(Index) + DeadZone/2
else
DualShock(Index) = 128
endif
if DualShock(5) > 161 then ; left Stick Horizontal
SeqIndex = 20
Gosub PlaySeq
endif
if DualShock(6) >161 then
SeqIndex = 4 ;
Gosub PlaySeq
endif
;YSpeed = DualShock(3) - 128 ; Right Stick Horizontal
;XSpeed = DualShock(4) - 128 ; Right Stick Vertical
;Steering = DualShock(5) - 128 ; Left Stick Horizontal
;Height = LastHeight + (((DualShock(6) - 128) / 5) - LastHeight) / StepFlag; Left Stick Vertical
LastButton(0) = DualShock(1)
LastButton(1) = DualShock(2)
goto main
PlaySeq:
For Index = 0 to 21
For Index = SeqPos(SeqIndex) to SeqPos(SeqIndex + 1) - 1
TmpServo = Steps(Index) >> 11
TmpValue = Steps(Index) & 2047
if LastServo = TmpServo then
TmpValue = TmpValue << 5
if DejaVu then
pause TmpValue
LastServo = 99
else
serout SSC32,i38400,"T", DEC TmpValue, 13]
DejaVu = DejaVu ^ 1
endif
else
TmpValue = TmpValue + 500
serout SSC32,i38400,"#", DEC TmpServo, "P", DEC TmpValue]
DejaVu = 0
LastServo = TmpServo
endif
next
next
goto Main[/code]