The answer is right in front of you. The baud rate for the command is 57.6kbaud.
serout S_OUT, i57600, "amplitude: ",dec amplitude1,13]But you have in the terminal window.
115.2k57.6k != 115.2k right?
Sorry its been a while. Looks like you have made some progress.
Like Jim said, you have a baud rate missmatch. Not only does it need to be set right in your code, but it has to be set right in the terminal as well as the jumper settings on the board. So there are three things to check:
1.) Code
2.) Terminal
3.) Board jumpers
I tried 57.6K, had the signal and ground of the circuit connected to AX3
I got a
amplitude : 255
and it prints very quickly until i click on disconnect. Triggering the sound sensor does not yield any different value.
I even tried connecting the signal output of the circuit to the top pin, instead of the middle pin, while the ground stay connected at the bottom pin on AX3.
No difference noticed.
Ahhh…
The output pin of your microphone circuit goes to the top pin! If you had the output of your microphone circuit connected directly to the middle pin, (which is probably set to 5vdc) it’s possible the transistor or LED is damaged.
Did you ever get the LED to change brightness when speaking into the microphone?
Yes I added another LED to the output of the circuit, and there is response to the LED when I make noise to the mic. (while using middle and upper pin)
When connecting to AX3, the only jumper I have to apply is the jumper that enables 5V right ?
Post images and or videos. Words are not helping here…
While you’re at it, an accurate schematic would be helpful, as no one is really sure what you have!
Ok, I wont be working on it tomorrow. I will post up images again on Monday.
Thank you.
As attached is how I have connected the circuit to the board with the jumpers.
Is that correct ? The circuit that I am using is the circuit that has been posted by SN96.
I connected the output of the circuit to another LED as well other than just to the bot board II. And the LED does blinks.
However on the terminal when connected with the same baud rate it just keeps printing
“amplitude: 255”
How you have it hooked up will power the circuit but I would use location 12,13,14 or 15 with the 5v jumper instead and connect the output of the circuit to pin #11 and see how that works for you.
Hi SN96, thank you for your reply.
Your video on the robot head responding to sound sensor
youtube.com/watch?v=23s_LwDYKiQ&fmt=6
has been a great motivation for what im doing here !
I have looked and studied closely from the video that you posted as much as I can, I see that u have wires connected to pins of 12-15, like what you have suggested in your post reply.
But what are those connection for ? I have only one output from my circuit which is to be connected to pin 11, like you say.
So my previous connection on AX0 to AX3 can be left empty ?
Sorry, my last post stated to use Pin 11 which I believe is not right. The schematic is very confusing with the A/D pins.
The red/black/white wires connected in the video that you see are to power my IR sensor eyes. there is one emitter and one receiver module, therefore I have two sets of wires. In your case, you will only have 3 wires to connect, one pos & one neg wire for your sound sensor circuit, and one output wire that is used to read logic high or logic low (on or off) from the sound sensor circuit.
So assuming the circuit you built works (the LED blinks when there is sound), you will connect your circuit’s pos/neg leads to a jumpered 5v regulated power servo bank use servo bank 0-3 with the 5v jumper installed and the single output wire from the sound sensor connected to AX2 which is an A/D pin (on the BBII).
So here is the way it should be:
1.) Servo bank 0-3 (5v jumper fitted) - Sound sensor power wires go here
2.) BB2 Pin AX2 (P16) - A/D pin (No jumper installed!) Sound sensor output wire goes here
Program code to read Pin AX2 (P16)
Unfortunately I lost my original code so I don’t have an example. I will try to look for an example if I can remember this weekend.
Hope this helps.
EDIT
Another way to do this is to use any pin as an input pin and read the pin for a high or low signal. Since the circuit sends either a high or low signal, you don’t really need an A/D pin. An A/D pin would be useful for variable logic levels like using a pot, or photo ressitor for example. I think I ended up using a regular pin and used the “IN” command.
It should work the same right if I have my circuit powered from the BBII with the regulated 5V voltage already.
I don’t suppose that I will have to do the following right ?
“1.) Servo bank 0-3 (5v jumper fitted) - Sound sensor power wires go here”
I previously had a jumper installed when I connect the output to AX3, I shall try it out again with AX2 with no jumper.
I am not sure but I think I found your example of reading the pin of this thread where you have posted your video
Yeah, if you have the jumper installed and you try to use the output wire, you will allways see a high value since there is a constant voltage of 5v.
I looked at my older post you provided and see that I used an AD pin. I think I need to get this working on my end again before I confuse you or myself any more. 
Ok I found my old code that I used in the video you saw. I removed the Sequencer commands to keep it simple.
[code]Main
serout S_OUT, i57600, [DEC IN4, 13]
If IN4 < 1 then goto main ’ IN4 = pin4
ReadPin
If IN4 > 0 then
'code to react to sound here
Low P12 ; Turn ON LED
Endif
If IN4 > 0 then
goto ReadPin ' Sound signal still > 0. goto ReadPin till < 1.
Endif
high p12 ; Turn OFF LED
goto Main[/code]
There are two ways you can read the output of the sound circuit. One way is to use the A/D capability of the Basic Atom Pro like you have been doing, or, using the IN command. The input method, allows you to use any pin leaving the A/D pins free to do other things.
You might want to try experimenting with the above code also
Oh that works ! Finally my robot is able to read the signal !
Now is just have to do the programming to determine what it does.
Thank you !
WoooooHooooo! Glad you got it working! Persistence pays off!
A few things to consider when programming. The sound of the motors running will likely be picked up by the sound sensor, so when writing your code you should account for this by stopping the bot before listening for a new sound command such as a number of hand claps as an example.
Thank you for the advice.
Will take that into consideration when doing the programming 
I am now able to make the robot from ‘walking’ to ‘running’ with a single hand clap. As well as being able to fixed an ultrasonic sensor into it.
The next thing to do for me now is to -
" Make the robot to ‘walking’ to ‘running’ with another hand clap "
I have been trying to work on it for 3 fulls days without any progress with a few different logics.
I tried using ‘status 1’ for walking and ‘status 2’ for running.
I tried using debugger tool but somehow it does not go into the ‘If’ condition ?
Below is my code, hopefully somebody can help shed a little bit of light
[code];
; Use Basic Micro ATOM PRO IDE 08.0.1.7
; *** not suitable for IDE 02.2.1.1 (there’s a specific version for this IDE)
; *** not suitable for IDE 05.3.0.0 (there’s a specific version for this IDE)
; Use Basic Atom PRO 28
;************************************************
;************ Basic Atom with SSC-32 ************
;----------------- 2.44 3DOF-B ------------------
;----------------- Autonomous -------------------
;-------------- Round Body (H3-R) ---------------
;********** Bot Board Buzzer support ************
;***** Little Gripper / Pan & Tilt support ******
;**************** Deck support ******************
;************************************************
;** Programmer: Laurent Gay, [email protected] **
;************************************************
;
; let’s say that the 2 switches holes of the H3/H3R is the ‘rear’ of the robot
;
; *** using 3 ‘right’ legs and 3 ‘left’ legs ***
; put the SSC-32 card with the PC serial port looking to ‘Front’ (opposite to H3R switches)
;
; 3 right legs connections :
; Rear Right leg : Hip Horizontal : pin 0, Hip Vertical : pin 1, Knee : pin 2
; Middle Right leg : Hip Horizontal : pin 4, Hip Vertical : pin 5, Knee : pin 6
; Front Right leg : Hip Horizontal : pin 8, Hip Vertical : pin 9, Knee : pin 10
;
; 3 left legs connections :
; Rear Left leg : Hip Horizontal : pin 16, Hip Vertical : pin 17, Knee : pin 18
; Middle Left leg : Hip Horizontal : pin 20, Hip Vertical : pin 21, Knee : pin 22
; Front Left leg : Hip Horizontal : pin 24, Hip Vertical : pin 25, Knee : pin 26
;
; Little Gripper support on Pin 29 (Left/Right) and 30 (Open/Close) (only in ‘Body move’ mode)
;
; Deck support on Pin 31 (panning servo)
; allow to handle a deck (for camera, sensors, lights)
; the panning servo will follow the direction it walk
; Additional tilt servo support for 180° Deck on pin 28 (Round body only)
; When using a 180° deck + 2 GP2D12 back to back on a tilt servo
; the tilt servo will incline the ‘usable’ GP2D12 (looking the walking direction) to floor
; when walking at low speed, the angle increase (looking near)
; when walking at full speed, the angle is close to horizontal (looking far)
; when going opposite direction, the angle is mirrored to vertical,
; making the opposite GP2D12 looking near or far
;
;************************************************
;
;
;--------------------------------------------------------------------
;-------------Constants
;
;*** SSC-32 card communication on pin 15 ***
SSC32 con p8
;Deck
Deck_PulseMin con 600
Deck_PulseMax con 2400
;Little Gripper
LGripLR_PulseMin con 750
LGripLR_PulseMax con 2250
LGripOC_PulseMin con 750
LGripOC_PulseMax con 2250
;Legs
HipH_AngleMin con 21 ;30°
HipH_AngleMax con 107 ;150°
HipH_PulseMin con 910
HipH_PulseMax con 2090
HipV_AngleMin con 25 ;35°
HipV_AngleMax con 103 ;145°
HipV_PulseMin con 960
HipV_PulseMax con 2040
Knee_AngleMin con 36 ;50°
Knee_AngleMax con 107 ;150°
Knee_PulseMin con 1107
Knee_PulseMax con 2090
;****************************************************
; 3DOF-A Leg Dimensions (TibiaAngle constant = 0)
;HipV_HipH con 38 ;1.50" = 38mm (1.50 * 25.4)
;Femur_Length con 57 ;2.25" = 57mm (2.25 * 25.4)
;Tibia_Length con 124 ;4.875" = 124mm (4.875 * 25.4)
; 3DOF-B Leg Dimensions (TibiaAngle constant = 0)
;HipV_HipH con 29 ;1.14" = 29mm (1.14 * 25.4)
;Femur_Length con 57 ;2.25" = 57mm (2.25 * 25.4)
;Tibia_Length con 108 ;4.25" = 108mm (4.25 * 25.4)
; 3DOF-C Leg Dimensions (TibiaAngle constant = 20)
;HipV_HipH con 29 ;1.14" = 29mm (1.14 * 25.4)
;Femur_Length con 57 ;2.25" = 57mm (2.25 * 25.4)
;Tibia_Length con 141 ;5.55" = 141mm (5.55 * 25.4)
; 3DOF-(Old) Leg Dimensions (TibiaAngle constant = 0)
;HipV_HipH con 32 ;1.25" = 32mm (1.25 * 25.4)
;Femur_Length con 70 ;2.75" = 70mm (2.75 * 25.4)
;Tibia_Length con 108 ;4.25" = 108mm (4.25 * 25.4)
;****************************************************
; 3DOF-B Leg Dimensions (TibiaAngle constant = 0)
HipV_HipH con 29 ;1.14" = 29mm (1.14 * 25.4)
Femur_Length con 57 ;2.25" = 57mm (2.25 * 25.4)
Tibia_Length con 108 ;4.25" = 108mm (4.25 * 25.4)
LegUpShiftMin con 30
LegUpShiftMax con 70
KneeShiftPulse con 200 ;range is 0 to 255 (activated by pushing start button, affect the legs when up)
TibiaAngle con 0 ;range is -20 (interior) to 20 (exterior), 0 is vertical, this is ‘all time’ tibia angle
;ACos
ArcCos Bytetable 64,64,63,63,63,62,62,62,61,61,61,60,60,60,59,59,|
59,59,58,58,58,57,57,57,56,56,56,55,55,55,54,54,|
54,53,53,53,52,52,52,51,51,51,50,50,50,49,49,49,|
48,48,48,47,47,46,46,46,45,45,45,44,44,44,43,43,|
42,42,42,41,41,41,40,40,39,39,39,38,38,37,37,37,|
36,36,35,35,35,34,34,33,33,32,32,31,31,31,30,30,|
29,29,28,28,27,27,26,25,25,24,24,23,23,22,21,21,|
20,19,19,18,17,16,15,15,14,13,11,10,09,07,05,00
; Don’t use ByteTable instead, it takes too much memory
RRHH con “0” ;Rear Right leg : Hip Horizontal : pin 0
RRHH2 con “0”
RRHV con “0” ;Rear Right leg : Hip Vertical : pin 1
RRHV2 con “1”
RRK con “0” ;Rear Right leg : Knee : pin 2
RRK2 con “2”
MRHH con “0” ;Middle Right leg : Hip Horizontal : pin 4
MRHH2 con “4”
MRHV con “0” ;Middle Right leg : Hip Vertical : pin 5
MRHV2 con “5”
MRK con “0” ;Middle Right leg : Knee : pin 6
MRK2 con “6”
FRHH con “0” ;Front Right leg : Hip Horizontal : pin 8
FRHH2 con “8”
FRHV con “0” ;Front Right leg : Hip Vertical : pin 9
FRHV2 con “9”
FRK con “1” ;Front Right leg : Knee : pin 10
FRK2 con “0”
RLHH con “1” ;Rear Left leg : Hip Horizontal : pin 16
RLHH2 con “6”
RLHV con “1” ;Rear Left leg : Hip Vertical : pin 17
RLHV2 con “7”
RLK con “1” ;Rear Left leg : Knee : pin 18
RLK2 con “8”
MLHH con “2” ;Middle Left leg : Hip Horizontal : pin 20
MLHH2 con “0”
MLHV con “2” ;Middle Left leg : Hip Vertical : pin 21
MLHV2 con “1”
MLK con “2” ;Middle Left leg : Knee : pin 22
MLK2 con “2”
FLHH con “2” ;Front Left leg : Hip Horizontal : pin 24
FLHH2 con “4”
FLHV con “2” ;Front Left leg : Hip Vertical : pin 25
FLHV2 con “5”
FLK con “2” ;Front Left leg : Knee : pin 26
FLK2 con “6”
;Little Gripper Pin
LGripLR Con “2” ;Little Gripper Left/Right : pin 29
LGripLR2 Con “9”
LGripOC Con “3” ;Little Gripper Open/close : pin 30
LGripOC2 Con “0”
; Deck Pin
DeckP Con “3” ;Deck Panning servo : pin 31
DeckP2 Con “1”
; Additional Tilt servo for 180° Deck
DeckTilt Con “2”
DeckTilt2 Con “8”
;--------------------------------------------------------------------
;-------------Variables
Index var Byte
Buttons var Byte
Buttons2 var byte
Steps var Byte
FlipFlap var Bit
FlagOff var Bit
MovesDelay var Sbyte
HeightShift var Sbyte(6)
KneeShift var Byte(7)
Steering var Sbyte
Height var Sbyte
Steering2 var Sbyte
Height2 var Sbyte
LastHeight var Sbyte
HeightLimit var Byte
XSpeed var Sbyte
YSpeed var Sbyte
Roll var Sbyte
Pitch var Sbyte
Rotate var Sbyte(6)
DCoord var Byte
DAngle var Byte
NbSteps var Byte
GaitSpeed var Byte
GaitSpeedTmp var Byte
StepFlag var Byte
TmpXPos var Long
TmpYPos var Long
TmpZPos var Long
TmpDistance var Long
TmpSEW var Word
TmpSEWSEW var Long
TmpCos var Long
TmpAngle var Sbyte
XPos var Sword(6)
YPos var Sword(6)
ZPos var Sword(6)
XPos2 var Sword(6)
YPos2 var Sword(6)
ZPos2 var Sword(6)
Distance var Sword
HipH_Angle var Sbyte
HipV_Angle var Sword
Knee_Angle var Sword
HipH_Pulse var Word(6)
HipV_Pulse var Word(6)
Knee_Pulse var Word(6)
LittleGripOCPulse var Word
LittleGripLRPulse var Word
Deck_Pulse var Word
DeckTilt_Pulse var Word
LegUpShift var Byte
GaitKind var Bit
Freeze var Bit
Tripod var Bit
LockLegs var Bit
LeftStickMode var Byte
LastLeftStickMode var Byte
KneeShiftOn var Bit
StepCnt var Word
Initialized var Bit
wdist var word
Automode var bit
Run var bit
Lowprofile var bit
Notmove var bit
i var word
a var word
status var word
a = 1
;--------------------------------------------------------------------
;***************
;*** Program ***
;***************
;-------------Init
clear
status = 1
LittleGripOCPulse = 1500
LittleGripLRPulse = 1500
HeightLimit = 25 - ABS(TibiaAngle / 2)
pause 500
;-------------Init SSC-32 with pulse offsets
serout SSC32,i38400,"#", |
RRHH,RRHH2,“po-58 #”,RRHV,RRHV2,“po-3 #”,RRK,RRK2,“po-20 #”, |
MRHH,MRHH2,“po-28 #”,MRHV,MRHV2,“po-24 #”,MRK,MRK2,“po-50 #”, |
FRHH,FRHH2,“po-14 #”,FRHV,FRHV2,“po-37 #”,FRK,FRK2,“po-44 #”, |
RLHH,RLHH2,“po-64 #”,RLHV,RLHV2,“po-51 #”,RLK,RLK2,“po-2 #”, |
MLHH,MLHH2,“po-66 #”,MLHV,MLHV2,“po-32 #”,MLK,MLK2,“po-28 #”, |
FLHH,FLHH2,“po-12 #”,FLHV,FLHV2,“po-7 #”,FLK,FLK2,“po-31”,13]
;SSC-32 -> H3 engine
gosub H3Init
Sound 9,[100\4235, 200\4435]
;--------------------------------------------------------------------
;-------------Main loop
main
a = a + 1
if Initialized = 0 then shunt
;--------------------------------------------------------------------
; ***************
; Buttons :
; ***************
; Bit 0 - Horn
; Bit 1 - ** Unused **
; Bit 2 - ** Unused **
; Bit 3 - ** Unused **
; Bit 4 - On/Off (you can test FlagOff(=1) to check if the servos are Off)
; Bit 5 - All = 1500
; Bit 6 - Attack
; Bit 7 - Learning to fly
; (for example, ‘Buttons.bit6 = 1’ will call the Attack mode posture)
; ‘Attack’ and ‘Learning to Fly’ must be called while the robot is not moving
; so, you’ll have to test the variable MovesDelay (=0) to make sure the H3R is not moving,
; else, it will not call the sub routine
;
; ***************
; Buttons2 :
; ***************
; Bit 0 - Open
; Bit 1 - Rotate Right
; Bit 2 - Close
; Bit 3 - Rotate Left
; Bit 4 - ** Unused **
; Bit 5 - ** Unused **
; Bit 6 - ** Unused **
; Bit 7 - ** Unused **
;
; ***************
; Steering (Rotation):
; ***************
; Range 120 (Right) to -120 (Left)
;
; ***************
; XSpeed (translation):
; ***************
; Range -120 (Forward) to 120 (Backward) (translation)
;
; ***************
; YSpeed (translation):
; ***************
; Range 120 (Right) to -120 (Left)
;
; ***************
; Height :
; ***************
; Range 25 (Body Down) to -25 (Body Up)
;
; ***************
; LegUpShift :
; ***************
; Range 20 (Close to Floor) to 70 (About 2.5 inches from floor)
; if LegUpShift > 45 the tripod Gait is modified to allow extra vertical move and the GaitSpeed is limited to 8-4 range
; if LegUpShift is close to 70 it’s recommended to use a 8-5 range for GaitSpeed
; (a too fast gait loop won’t allow extra vertical move)
; If LegUpShift > 45, you’ll have to move the Body Higher
; (Setting Height to -15 or -20 for example) to allow extra vertical move
;
; ***************
; GaitSpeed :
; ***************
; range 20 (Slow gait loop) to 3 (Fast gait loop)
; Note, gaitSpeed is limited to 20-4 range if LegUpShift > 45
;
; ***************
; KneeShiftOn
; ***************
; KneeShiftOn = 0 => normal gait
; KneeShiftOn = 1 => add a shift angle when tripod is Up
;
; ***************
; LockLegs
; ***************
; LockLegs = 0 => normal walk
; LockLegs = 1 => body moves
;
; ***************
; LeftStickMode
; ***************
; if locklegs = 1 => body moves mode :
; - LeftStickMode = 0 => Variable Steering and Height
; are used for vertical axis rotation (Yaw) and translation (Height)
; ---------------------------------------------
; - LeftStickMode = 1 => Variable Steering and Height
; are used for roll (right or left) and vertical axis translation (Height)
; ---------------------------------------------
; - LeftStickMode = 2 => Variable Steering and Height
; are used for vertical axis rotation (Yaw) and pitch (forward or backward)
; ---------------------------------------------
; - LeftStickMode = 3 => Variable Steering and Height
; are used for roll (right or left) and pitch (forward or backward)
;--------------------------------------------------------------------
Shunt
if Buttons.bit4 then ; On/Off
FlagOff = FlagOff ^ 1
if FlagOff then
gosub All1500
Gosub InitPos
pause 144
for Index = 0 to 31
serout SSC32,i38400,"#",DEC Index,“P0”]
next
serout SSC32,i38400,[13]
else
gosub H3Init
endif
endif
if FlagOff then
pause 144
goto OffEnd
endif
if (MovesDelay <= 0) or LockLegs then
if Buttons.bit5 then ; All = 1500
gosub All1500
endif
if Buttons.bit6 and (MovesDelay <= 0) then ; Attack
gosub All1500
;Attack posture
serout SSC32,i38400,"#",MRHH,MRHH2,"P1800#",MRHV,MRHV2,"P1700#",MRK,MRK2,"P1700#", |
MLHH,MLHH2,"P1200#",MLHV,MLHV2,"P1300#",MLK,MLK2,"P1300T288",13]
pause 288
serout SSC32,i38400,"#",MRHV,MRHV2,"P1500#",MRK,MRK2,"P1500#",MLHV,MLHV2,"P1500#", |
MLK,MLK2,"P1500T288",13]
pause 288
serout SSC32,i38400,"#",RRHV,RRHV2,"P1800#",RRK,RRK2,"P1800#",MRHV,MRHV2,"P1400#", |
MRK,MRK2,"P1400#",FRHH,FRHH2,"P1800#",FRHV,FRHV2,"P2100#",RLHV,RLHV2,"P1200#", |
RLK,RLK2,"P1200#",MLHV,MLHV2,"P1600#",MLK,MLK2,"P1600#",FLHH,FLHH2,"P1200#", |
FLHV,FLHV2,"P900T288",13]
pause 288
for Index = 1 to 10
serout SSC32,i38400,"#",FRHV,FRHV2,"P2000#",FRK,FRK2,"P1600#",FLHV,FLHV2,"P900#", |
FLK,FLK2,"P1600T144",13]
pause 144
serout SSC32,i38400,"#",FRHV,FRHV2,"P2100#",FRK,FRK2,"P1400#",FLHV,FLHV2,"P1000#", |
FLK,FLK2,"P1400T144",13]
pause 144
next
serout SSC32,i38400,"#",FRHH,FRHH2,"P1500#",FRK,FRK2,"P1500#",FLHH,FLHH2,"P1500#", |
FLHV,FLHV2,"P900#",FLK,FLK2,"P1500T288",13]
pause 288
serout SSC32,i38400,"#",RRHV,RRHV2,"P1500#",RRK,RRK2,"P1500#",MRHV,MRHV2,"P1500#", |
MRK,MRK2,"P1500#",FRHV,FRHV2,"P1500#",MLHV,MLHV2,"P1500#",MLK,MLK2,"P1500#", |
FLHV,FLHV2,"P1500#",RLHV,RLHV2,"P1500#",RLK,RLK2,"P1500T576",13]
pause 576
serout SSC32,i38400,"#",MRHH,MRHH2,"P1500#",MRHV,MRHV2,"P1700#",MRK,MRK2,"P1700#", |
MLHH,MLHH2,"P1500#",MLHV,MLHV2,"P1300#",MLK,MLK2,"P1300T288",13]
pause 288
serout SSC32,i38400,"#",MRHV,MRHV2,"P1500#",MRK,MRK2,"P1500#",MLHV,MLHV2,"P1500#", |
MLK,MLK2,"P1500T288",13]
pause 288
endif
if Buttons.bit7 then ; Learning To Fly
gosub All1500
;Learning to fly posture (uh ? nutty ?...it CAN fly...)
for Index = 1 to 4
serout SSC32,i38400,"#",MRHV,MRHV2,"P1900#",MRK,MRK2,"P1800#",MLHV,MLHV2,"P1100#", |
MLK,MLK2,"P1200T288",13]
serout SSC32,i38400,"#",RRHV,RRHV2,"P1600#",RRK,RRK2,"P1600#",FRHV,FRHV2,"P1600#", |
FRK,FRK2,"P1600#",RLHV,RLHV2,"P1400#",RLK,RLK2,"P1400#",FLHV,FLHV2,"P1400#", |
FLK,FLK2,"P1400T576",13]
pause 288
serout SSC32,i38400,"#",MRK,MRK2,"P1200#",MLK,MLK2,"P1800T288",13]
pause 288
serout SSC32,i38400,"#",RRHV,RRHV2,"P1400#",RRK,RRK2,"P1400#",MRHV,MRHV2,"P1500#", |
FRHV,FRHV2,"P1400#",FRK,FRK2,"P1400#",RLHV,RLHV2,"P1600#",RLK,RLK2,"P1600#", |
MLHV,MLHV2,"P1500#",FLHV,FLHV2,"P1600#",FLK,FLK2,"P1600T576",13]
pause 576
next
serout SSC32,i38400,"#",MRHV,MRHV2,"P1800#",MRK,MRK2,"P1800#",MLHV,MLHV2,"P1200#", |
MLK,MLK2,"P1200T288",13]
pause 288
gosub All1500
endif
endif
if (LockLegs = 0) or (LeftStickMode <> LastLeftStickMode) then gosub FlatBody
if KneeShiftOn then
KneeShift(6) = KneeShiftPulse
else
KneeShift(6) = 0
endif
if Buttons.bit0 then ; Horn
Sound 9,[800\392, 600\370, 200\0, 800\330, 600\294, 200\0, 300\330, 100\0, 300\330]
endif
start:
if Automode then
Yspeed = 0
Xspeed = 10
Steering = 0
Stepflag = 3
Height = -25
endif
if Run then
i=20
Yspeed = 0
Xspeed = 100
Steering = 0
Stepflag = 3
Height = 0
endif
if Lowprofile then
i=15
Yspeed = 0
Xspeed = 0
Steering = 30
Stepflag = 3
Height = 25
endif
if Notmove then
Yspeed = 0
Xspeed = 0
Steering = 0
Stepflag = 0
Height = 0
endif
Steering = (Steering Max 120) min -120
Steering2 = Steering
Height = (Height Max 25) min -25
Height2 = Height
;YSpeed = 0
YSpeed = (YSpeed Max 120) min -120
XSpeed = (XSpeed Max 120) min -120
;XSpeed = 20
;if a < 50 then
; XSpeed = 120
; Height = -15
;endif
;if a > 50 & a < 70 then
; XSpeed = 20
; Height = 25
; ;Sound 9,[200\392]
;endif
;if a > 70 then
; Xspeed =60
; Height = -15
;endif
;XSpeed = (XSpeed Max 120) min -120
Continue
GaitSpeed = (GaitSpeed max 20) min 3
StepFlag = (GaitSpeedTmp - 2) max 3
LegUpShift = (LegUpShift max 70) min 20
if LegUpShift > 45 then
GaitKind = 1
GaitSpeed = GaitSpeed min 4
else
GaitKind = 0
endif
Height = (Height Max HeightLimit) min - HeightLimit
H3:
serout S_OUT, i57600, [DEC IN15, 13]
;serout S_OUT, i300, [DEC status, 13]
If status = 1 and IN15 < 1 then
Automode = 1
status = 1
endif
ReadPin
If status = 1 and IN15 > 0 then
'code to react to sound here
Run = 1 ; Turn ON LED
status = 2
Endif
If status = 2 and IN15 < 1 then
Run = 1
status = 2
endif
if status = 2 and IN15 > 0 then
Automode = 1
status = 1
endif
;goto ReadPin ' Sound signal still > 0. goto ReadPin till < 1.
;Endif
;if status = 2 and IN15 > 0 then
;goto Readpin
;endif
low p4
pulsout p4, 5
input p4
pulsin p4, 0, toolong, 40000, wdist
wdist = wdist / 148 ;convert for inches
serout s_out, i9600, "Distance: ", sdec wdist, 13, 10] ;display result in terminal
toolong:
if (wdist < 8) then
Lowprofile = 1
Automode = 0
Run = 0
endif
if Steering or (Height <> LastHeight) or YSpeed or XSpeed or LockLegs then
MovesDelay = 8
endif
if MovesDelay > 0 then
LastHeight = Height
DCoord = SQR(XSpeed * XSpeed + YSpeed * YSpeed)
TmpCos = XSpeed * 127 / DCoord
gosub ACos
DAngle = TmpAngle
if YSpeed > 0 then
DAngle = 256 - DAngle
endif
DCoord = DCoord max (128 - ABS(Height) - ABS(TibiaAngle * 2))
; 180° Deck Code
if (Dangle < 64 or Dangle > 191) and (DCoord > 0) then
DeckTilt_Pulse = 1680 - Dcoord
else
DeckTilt_Pulse = 1380 + Dcoord
endif
Deck_Pulse = ((Deck_PulseMax - Deck_PulseMin) * ((DAngle + 64 ) & $7F)) / 127 + Deck_PulseMin
; 360° Deck Code
;Deck_Pulse = ((Deck_PulseMax - Deck_PulseMin) * DAngle) / 255 + Deck_PulseMin
Steps = Steps + 1
if Steps > NbSteps then
Steps = 1
FlipFlap = FlipFlap ^ 1
NbSteps = GaitSpeed
endif
if LockLegs then
if LeftStickMode > 0 then ;Body roll and pitch
if (leftStickMode & 1) then
Roll = Roll + (Steering - Roll) / StepFlag
Steering = 0
else
Roll = 0
endif
if (leftStickMode & 2) then
Pitch = Pitch + (Height - Pitch) / StepFlag
Height = 0
else
Pitch = 0
endif
HeightShift(0) = Roll/10
HeightShift(2) = HeightShift(0)
HeightShift(3) = -HeightShift(0)
HeightShift(5) = HeightShift(3)
HeightShift(0) = ((HeightShift(0) + Pitch) max HeightLimit) min -HeightLimit
HeightShift(3) = -HeightShift(0)
HeightShift(2) = ((HeightShift(2) - Pitch) max HeightLimit) min -HeightLimit
HeightShift(5) = -HeightShift(2)
HeightShift(1) = HeightShift(0) + HeightShift(2)
HeightShift(4) = HeightShift(3) + HeightShift(5)
endif
LittleGripOCPulse = ((LittleGripOCPulse + (Buttons2.bit3 * 50) - (Buttons2.bit2 * 50)) |
min LGripOC_PulseMin) max LGripOC_PulseMax
LittleGripLRPulse = ((LittleGripLRPulse + (Buttons2.bit1 * 50) - (Buttons2.bit0 * 50)) |
min LGripLR_PulseMin) max LGripLR_PulseMax
GaitSpeedTmp = StepFlag + 2
else
StepFlag = NbSteps - Steps + 1
endif
for Index = 0 to 5
XPos2(Index) = -(DCoord * SIN(DAngle + (Index * 43 + 21) + 64) / 300) ; 43 => 60 degrees
ZPos2(Index) = -(DCoord * SIN(DAngle + (Index * 43 + 21)) / 300) ; 43 => 60 degrees
next
Tripod = FlipFlap
gosub AorB_Down
Freeze = Steps < (NbSteps - GaitKind)
Tripod = FlipFlap ^ 1
gosub AorB_Up
for Index = 0 to 5
;Distance and HipH_Angle with XZ
Distance = SQR((XPos(Index) * XPos(Index) + ZPos(Index) * ZPos(Index)) / 4) * 2
TmpCos = ZPos(Index) * 127 / Distance
Distance = Distance + TibiaAngle ; Tibia angle for special legs (3DOF-C)
Gosub ACos
HipH_Angle = (TmpAngle max HipH_AngleMax) min HipH_AngleMin
;----------
;Set Angle
TmpXPos = XPos(Index) * 127
TmpYPos = (YPos(Index) * 127) max 0
TmpZPos = ZPos(Index) * 127
TmpDistance = ((Distance - HipV_HipH) * 127) min 0
TmpSEWSEW = (TmpYPos * TmpYPos + TmpDistance * TmpDistance) / 16129
TmpSEW = SQR(TmpSEWSEW)
TmpCos = (Femur_Length * Femur_Length + Tibia_Length * Tibia_Length - TmpSEWSEW)
TmpCos = TmpCos * 127 / (2 * Femur_Length * Tibia_Length)
gosub ACos
Knee_Angle = (TmpAngle max Knee_AngleMax) min Knee_AngleMin
TmpCos = -TmpYPos / TmpSew
gosub ACos
HipV_Angle = TmpAngle
TmpCos = (Femur_Length * Femur_Length - Tibia_Length * Tibia_Length + TmpSEWSEW)
TmpCos = TmpCos * 127 / (2 * Femur_Length * TmpSEW)
gosub ACos
HipV_Angle = ((TmpAngle + HipV_Angle) max HipV_AngleMax) min HipV_AngleMin
;----------
HipH_Angle = HipH_Angle + Rotate(Index)
HipH_Pulse(Index) = (((HipH_PulseMax - HipH_PulseMin) * (HipH_Angle - HipH_AngleMin) |
/ (HipH_AngleMax - HipH_AngleMin) + HipH_PulseMin) max HipH_PulseMax) min HipH_PulseMin
HipV_Pulse(Index) = (((HipV_PulseMax - HipV_PulseMin) * (HipV_Angle - HipV_AngleMin) |
/ (HipV_AngleMax - HipV_AngleMin) + HipV_PulseMin) max HipV_PulseMax) min HipV_PulseMin
Knee_Pulse(Index) = (((Knee_PulseMax - Knee_PulseMin) * (Knee_Angle - Knee_AngleMin) |
/ (Knee_AngleMax - Knee_AngleMin) + Knee_PulseMin) max Knee_PulseMax) min Knee_PulseMin
Knee_Pulse(Index) = 3000 - Knee_Pulse(Index) - KneeShift(Index) * 2
next
serout SSC32,i38400,"#",RRHH,RRHH2,"P",DEC HipH_Pulse(0),"#",RRHV,RRHV2,"P",DEC HipV_Pulse(0), |
"#",RRK,RRK2,"P",DEC Knee_Pulse(0),"#",FRHH,FRHH2,"P",DEC HipH_Pulse(2), |
"#",FRHV,FRHV2,"P",DEC HipV_Pulse(2),"#",FRK,FRK2,"P",DEC Knee_Pulse(2), |
"#",MLHH,MLHH2,"P",DEC HipH_Pulse(4),"#",MLHV,MLHV2,"P",DEC 3000 - HipV_Pulse(4), |
"#",MLK,MLK2,"P",DEC 3000 - Knee_Pulse(4),"#",MRHH,MRHH2,"P",DEC HipH_Pulse(1), |
"#",MRHV,MRHV2,"P",DEC HipV_Pulse(1),"#",MRK,MRK2,"P",DEC Knee_Pulse(1), |
"#",RLHH,RLHH2,"P",DEC HipH_Pulse(5),"#",RLHV,RLHV2,"P",DEC 3000 - HipV_Pulse(5), |
"#",RLK,RLK2,"P",DEC 3000 - Knee_Pulse(5),"#",FLHH,FLHH2,"P",DEC HipH_Pulse(3), |
"#",FLHV,FLHV2,"P",DEC 3000 - HipV_Pulse(3),"#",FLK,FLK2,"P",DEC 3000 - Knee_Pulse(3), |
"#",DeckP,DeckP2,"P",DEC Deck_Pulse,"#",DeckTilt,DeckTilt2,"P",DEC DeckTilt_Pulse, |
"#",LGripOC,LGripOC2,"P",DEC LittleGripOCPulse,"#",LGripLR,LGripLR2,"P",DEC LittleGripLRPulse,"T190",13]
pause 100
else
Initialized = 1
pause 144
if MovesDelay < -17 then
MovesDelay = (NbSteps - GaitKind) - Steps + 1
EndIf
endif
MovesDelay = MovesDelay - 1
OffEnd
Buttons = 0
Buttons2 = 0
if i > 0 then
i = i -1
goto H3
else
i = 0
endif
serout s_out,i9600,[DEC a, 13]
goto main
;--------------------------------------------------------------------
;-------------Sub H3 Init
H3Init
LockLegs = 0
NbSteps = 4
GaitSpeed = NbSteps
LegUpShift = 35
for Index = 0 to 5
XPos(Index) = HipV_HipH + Femur_Length
YPos(Index) = - Tibia_Length
ZPos(Index) = 0
next
Gosub InitPos
MovesDelay = 8
Initialized = 0
; then All1500
;-------------Sub All1500
All1500
height = 0
LastHeight = 0
for Index = 0 to 27 ;preserve servo 28 (Deck Tilt),29 and 30 (Little Gripper),31 (Deck)
serout SSC32,i38400,"#",DEC Index,"P1500"]
next
serout SSC32,i38400,"T576",13]
pause 576
Steps = NbSteps
; then Flat Body
;-------------Sub Flat Body
FlatBody
Roll = 0
Pitch = 0
for Index = 0 to 5
HeightShift(Index) = 0
next
LastLeftStickMode = LeftStickMode
return
;-------------Sub InitPos
InitPos
serout SSC32,i38400,"#",RRHV,RRHV2,“P2100#”,RRK,RRK2,“P1800#”,MRHV,MRHV2,“P2100#”,MRK,MRK2,“P1800#”, |
FRHV,FRHV2,“P2100#”,FRK,FRK2,“P1800#”,RLHV,RLHV2,“P900#”,RLK,RLK2,“P1200#”,MLHV,MLHV2,“P900#”, |
MLK,MLK2,“P1200#”,FLHV,FLHV2,“P900#”,FLK,FLK2,“P1200T1152”,13]
pause 576
serout SSC32,i38400,"#",RRHH,RRHH2,“P1500#”,MRHH,MRHH2,“P1500#”,FRHH,FRHH2,“P1500#”, |
RLHH,RLHH2,“P1500#”,MLHH,MLHH2,“P1500#”,FLHH,FLHH2,“P1500T576”,13]
pause 576
return
;-------------Sub Arc Cosinus
ACos
TmpCos = (TmpCos max 127) min -127
if TmpCos < 0 then
TmpAngle = 128 - ArcCos(-TmpCos)
else
TmpAngle = ArcCos(TmpCos)
endif
return
;-------------Tripod ‘A’ (tripod = 0) or ‘B’ (Tripod = 1) Down
AorB_Down
for Index = 0 + Tripod to 4 + Tripod Step 2
KneeShift(Index) = 0
Rotate(Index) = Rotate(Index) + (Steering2/5 - Rotate(Index))/StepFlag
YPos(Index) = -Tibia_Length + Height2 + HeightShift(Index)
XPos(Index) = XPos(Index) + (XPos2(Index) - (XPos(Index) - (HipV_HipH + Femur_Length)))/StepFlag
ZPos(Index) = ZPos(Index) + (ZPos2(Index) - ZPos(Index))/StepFlag
next
return
;-------------Tripod ‘A’ (tripod = 0) or ‘B’ (Tripod = 1) Up
AorB_Up
if LockLegs then AorB_Down ;Goto sub AorB_Down and return directly from it to main loop
if (Steps = NbSteps) and GaitKind then
StepFlag = NbSteps
goto AorB_Down ;Goto sub AorB_Down and return directly from it to main loop
else
StepFlag = StepFlag - GaitKind - 1
endif
for Index = 0 + Tripod to 4 + Tripod Step 2
if (Steps > 1) and (Steps < (NbSteps - GaitKind - 1)) then
KneeShift(Index) = KneeShift(6)
else
KneeShift(Index) = 0
endif
Rotate(Index) = Rotate(Index) + (-Steering2/5 - Rotate(Index))/StepFlag
YPos(Index) = -Tibia_Length + Height2 + (LegUpShift * Freeze)
XPos(Index) = XPos(Index) + (-XPos2(Index) - (XPos(Index) - (HipV_HipH + Femur_Length)))/StepFlag
ZPos(Index) = ZPos(Index) + (-ZPos2(Index) - ZPos(Index))/StepFlag
next
return
;--------------------------------------------------------------------
[/code]