Now you have built Bambino you can either just use it with the preloaded program or you can learn about robots and programming by following the programs I wrote while creating the original Bambino.

All the programs are in the program ZIP file available for download from the main Bambino page.

You will need the PicAxe Programming Editor
available from
http://www.picaxe.com/Software/PICAXE/PICAXE-Programming-Editor
then
unpack the programs from the ZIP file using WinZIP or a similar program
and then load them into the PicAxe Programming Editor.
(It is recommended that you use the programs from the ZIP file.)
Or you can copy from the listings below and paste each program into the editor.

• Program 1
  Makes a sound and toggles the four orange LEDs.
  it uses
  - the Speaker and red Mouth LED, and the four orange LEDs
• Program 2
  Test InfraRed input
  - receive IR code and send it to the PC;
  - open the Terminal window [F8] to see the codes;
  -- set the baud to 4800;
  - if you are not using the PicAxe controller TVR010
  - then you will need to write down which keys give which codes;
• Program 2a
  Test Eye light values
  - open the Terminal window [F8] to see the values;
  - set the baud to 4800;
• Program 2b
  Test Whisker light values
  - open the Terminal window [F8] to see the values;
  - set the baud to 4800;
• Program 3
  Play the inbuilt tunes using keys 1 to 4 and beep on 5
• Program 4
  - note this can be done from the handcontroller using program 28
  Set servos to mid position
  - remove horn screws
  - remove horns from servos
  - run program
  - attach horns so
  -- feet are side by side
  -- feet are both flat on the ground
  -- fasten the horns with the screws
• Program 5
  - note this can be done from the handcontroller using program 28
  Calibrate servo mid positions.
  - The pulsout value must be between 100 and 200 otherwise the servo may be damaged.
  - Because of the way each servo is made and
  -- the horns can only be put on about every 15 degrees
  -- the feet may not be exactly side by side or be flat on the ground.
  - Edit the servo mid positions, rollC and paceC, and
  -- reload the program until the feet are in the right position.
  - The calibrated values are stored in EEPROM for further programs.
  
• Program 6
  Introduce _iStand:- initialise with feet in mid position
• Program 7
  Set rollR - edit rollR and reload program until left foot is just off the ground
• Program 8
  Set rollL - edit rollL and reload program until right foot is just off the ground
• Program 9
  Check rollR, rollL
  - edit rollR and rollL and reload program until left and right roll is equal
  - You might have to take out the download cable to check what is right, because it pulls the robot.
• Program 10
  Introduction of _Stand - watch roll for all three speeds -- You might have to take out the download cable to check what is right, because it pulls the robot.
• Program 11
  Investigate effect of rollspeed with rollat a variable
  - watch roll for all three speeds
  -- You might have to take out the download cable to check what is right, because it pulls the robot.
• Program 12
  Investigate effect of rollspeed
  - watch Roll and Stand for all three speeds
  -- You might have to take out the download cable to check what is right, because it pulls the robot.
• Program 13
  Check paceFL paceFR; Investigate effect of pacespeed - edit pacespeed to see how Bambino performs
• Program 14
  Check Fd
  - edit paceFL and paceFR and reload program until left and right pace are equal
• Program 15
  Test Rt, Lt
  - edit rollC to tune the turns
• Program 15a
  Test T2L Turn to Light, T2D Turn to Dark
• Program 16
  Check Bk
  

'Bambino-01
Sertxd("B01",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker

'The program makes a sound and toggles the four orange LEDs.
'It uses
' - the Speaker and red Mouth LED, 
' - the four orange LEDs 

symbol VoiceLed_     =c.5    'low =>LED on 
symbol eyeLedL_      =c.2    'low =>LED on 
symbol eyeLedR_      =b.1    'low =>LED on
symbol whiskerLedL_  =c.3    'low =>whisker LED on
symbol whiskerLedR_  =b.3    'low =>whisker LED on

initialise:
	high eyeLedL_		'make output and turn off
	high eyeLedR_		'make output and turn off
	high whiskerLedL_	'make output and turn off
	high whiskerLedR_	'make output and turn off
start:
	let b0 = b0 + 1         'increment b0, 
	  'when the byte variable b0 reaches 255 it will increment to 0
	sound VoiceLed_,(b0,2)  'make a sound
	toggle eyeLedL_		'alter eyeL
	toggle eyeLedR_		'alter eyeR
	toggle whiskerLedL_	'alter whiskerL
	toggle whiskerLedR_	'alter whiskerR
	goto start              'loop back to start

'Bambino-02
Sertxd("B02",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input

'Test InfraRed input
'-------------------
'	receive IR code and send it to the PC;
'	open the Terminal window [F8] to see the codes;
'		set the baud to 4800;
'	if you are not using the PicAxe controller TVR010
'	then you will need to write down which keys give which codes;


symbol VoiceLed_     =c.5
symbol eyeLedL_      =c.2    'low =>LED on 
symbol eyeLedR_      =b.1    'low =>LED on
symbol whiskerLedL_  =c.3    'low =>whisker LED on
symbol whiskerLedR_  =b.3    'low =>whisker LED on
symbol iIRin         =c.6

'=================================================================
'TVR010 PicAxe IR-controller
'---------------------------
'Before use, the transmitter must be programmed with the ‘Sony’ transmit code.
'1. Insert 2 AAA size batteries, preferably alkaline.
'2. Press ‘S’ and ‘B’ at the same time. S is in the centre of the arrows. 
'	The top left red LED should light.
'3. Press ‘0’. The LED should flash.
'4. Press ‘1’. The LED should flash.
'5. Press ‘3’. The LED should go out.
'6. Press the red power button (top right).
'-------------------------------------------
'IRin cmnds PicAxe controller
'DO NOT PRESS OTHER KEYS 
'ie [A] [B] [C] [D] [E] [F] [G] 
'They change the Mode and [B] has to be pressed to change back.
'[square] [triangle [()] [L] [X] [backwards F]  have no effect

Symbol KEY_POWER  = 21	

Symbol KEY_UP     = 16	
Symbol KEY_DOWN   = 17	
Symbol KEY_RIGHT  = 18	
Symbol KEY_LEFT   = 19	

Symbol KEY_BAR    = 96
Symbol KEY_TENT   = 54
Symbol KEY_VERT_CROSS = 37
Symbol KEY_VCROSS = 37		'synonym for easier coding
Symbol KEY_DIAG_CROSS = 20
Symbol KEY_XCROSS = 20		'synonym for easier coding
symbol IRkey1     =  0
symbol IRkey2     =  1
symbol IRkey3     =  2
symbol IRkey4     =  3
symbol IRkey5     =  4
symbol IRkey6     =  5
symbol IRkey7     =  6
symbol IRkey8     =  7
symbol IRkey9     =  8
Symbol KEY_MINUS  = 98
Symbol KEY_0      =  9	
Symbol KEY_PLUS   = 11
'=================================================================

initialise:
	low eyeLedR_			'make output and off
	low eyeLedL_			'make output and off

start:
	let b0 = b0 + 1               'increment b0
	sound VoiceLed_,(b0,2)    	'make a sound
	toggle eyeLedR_			'alter eyeR
	toggle eyeLedL_			'alter eyeL
	irin [100,start],iIRin,b1	'irin with timeout
'	irin iIRin,b1			'irin with no timeout
	sertxd (#b1," ",cr)   		'send value back to PC
	goto start                    'loop back to start

'Bambino-02a
Sertxd("B02a",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values

'Test Eye light values
'---------------------
'	open the Terminal window [F8] to see the values;
'		set the baud to 4800;


symbol VoiceLed_     =c.5
symbol eyeLedL_      =c.2    'low =>LED on 
symbol eyeLedR_      =b.1    'low =>LED on
symbol whiskerLedL_  =c.3    'low =>whisker LED on
symbol whiskerLedR_  =b.3    'low =>whisker LED on
symbol iIRin         =c.6
symbol eyeR          =c.7		  	
symbol eyeL          =c.1		  	




initialise:
	high eyeLedR_			'make output LED off
	high eyeLedL_			'make output LED off

start:
	high  eyeLedR_			'eyeR off

whiskerL:
	readadc c.1,b1			'dark
	low eyeLedL_			'eyeR on
	readadc c.1,b2			'light
	high  eyeLedL_			'eyeR off
	if b1>b2 then whiskerL	
'	b3 =b2 -b1
	b3 =b2 -b1 *256 /b2		'scale
		sertxd ("L ",#b1," ",#b2," ",#b3,":")   	 	 'send value back to PC
	pause 100

whiskerR:
	readadc c.7,b1			'dark
	low eyeLedR_			'eyeR on
	readadc c.7,b2			'light
	high  eyeLedR_			'eyeR off
	if b1>b2 then whiskerR	
'	b3 =b2 -b1
	b3 =b2 -b1 *256 /b2		'scale
	sertxd ("R ",#b1," ",#b2," ",#b3,"--",cr)   		'send value back to PC
	
	
	pause 100
	goto start                    'loop back to start

'Bambino-02a
Sertxd("B02b",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01		'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02		'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM

'Test Whisker light values
'-------------------------
'	open the Terminal window [F8] to see the values;
'		set the baud to 4800;

symbol VoiceLed_     =c.5
symbol eyeLedL_      =c.2    'low =>LED on 
symbol eyeLedR_      =b.1    'low =>LED on
symbol whiskerLedL_  =c.3    'low =>whisker LED on
symbol whiskerLedR_  =b.3    'low =>whisker LED on
symbol iIRin         =c.6
symbol oIRout        =b.2
symbol eyeR          =c.7		  	
symbol eyeL          =c.1		  	
symbol whiskerL      =b.6    'whisker Down Left		  	
symbol whiskerR      =b.0    'whisker Down Right		  	

'edit holedetect values so Bambino can see table edges
'detected values should 
'be grater than the holedetect values when not at an edge 
'and lower when at an edge
symbol holedetectL =50	'scaled light level difference for hole
symbol holedetectR =50	'scaled light level difference for hole


write 253,holedetectL	'store for future programs
write 252,holedetectR	'store for future programs

initialise:
	high whiskerLedL_			'make output, whisker LED off
	high whiskerLedR_			'make output, whisker LED off

start:

ReadwhiskerL:
	readadc b.6,b1			'dark
	low whiskerLedL_		'LED on
	readadc b.6,b2			'light
	high  whiskerLedL_		'LED off
	if b1>b2 then ReadwhiskerL	
	b3 =b2 -b1 *256 /b2		'scale 
	sertxd ("L ",#b1," ",#b2," ",#b3,"   ")   	 'home, send value back to PC
	if b3<holedetectL then
	  sertxd("edge",cr)
	 endif 

ReadwhiskerR:
	readadc b.0,b1			'dark
	low whiskerLedR_		'LED on
	low whiskerLedL_		'LED on
	readadc b.0,b2			'light
	high  whiskerLedR_		'LED off
	high  whiskerLedL_		'LED off
	if b1>b2 then ReadwhiskerR	
	b3 =b2 -b1 *256 /b2		'scale
	sertxd ("R ",#b1," ",#b2," ",#b3,"   ",cr)',"--",cr) 'send value back to PC
	if b3<holedetectR then
	  sertxd("edge",cr)
	 endif 
	
	pause 200
	goto start                    'loop back to start

'Bambino-03
Sertxd("B03",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01		'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02		'Test InfraRed input
'Bambino-02a	'Test Eye light values and put in EEPROM
'Bambino-03		'Play the inbuilt tunes using keys 1 to 4 and beep on 5


'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'------------------------------------------------------

symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol iIRin          =c.6
symbol oIRout         =b.2
symbol eyeR           =c.7		  	
symbol eyeL           =c.1		  	

'TVR010 PicAxe IR-controller
'---------------------------
'Before use, the transmitter must be programmed with the ‘Sony’ transmit code.
'1. Insert 2 AAA size batteries, preferably alkaline.
'2. Press ‘S’ and ‘B’ at the same time. S is in the centre of the arrows. 
'	The top left red LED should light.
'3. Press ‘0’. The LED should flash.
'4. Press ‘1’. The LED should flash.
'5. Press ‘3’. The LED should go out.
'6. Press the red power button (top right).
'-------------------------------------------
'IRin cmnds PicAxe controller

Symbol KEY_POWER  = 21
Symbol KEY_UP     = 16
Symbol KEY_DOWN   = 17
Symbol KEY_RIGHT  = 18
Symbol KEY_LEFT   = 19

symbol IRkey1     =  0
symbol IRkey2     =  1
symbol IRkey3     =  2
symbol IRkey4     =  3
symbol IRkey5     =  4
symbol IRkey6     =  5
symbol IRkey7     =  6
symbol IRkey8     =  7
symbol IRkey9     =  8
Symbol KEY_MINUS  = 98
Symbol KEY_0      =  9
Symbol KEY_PLUS   = 11
Symbol KEY_BAR    = 96
Symbol KEY_TENT   = 54
Symbol KEY_VERT_CROSS = 37
Symbol KEY_DIAG_CROSS = 20


initialise:
	low eyeLedR_			'make output
	high eyeLedL_			'make output

start:
	toggle eyeLedR_			'flash eyeR while waiting 
	toggle eyeLedL_			'flash eyeR while waiting 
	irin [100,start],iIRin,b1	'irin with timeout
	on b1 goto play0,play1,play2,play3,beep 
	'if b1>3 then ignore command
	goto start                    'loop back to start



play0:
	play VoiceLed_,0
	goto start                    'loop back to start
play1:
	play VoiceLed_,1
	goto start                    'loop back to start
play2:
	play VoiceLed_,2
	goto start                    'loop back to start
play3:
	play VoiceLed_,3
	goto start                    'loop back to start

beep:
	sound VoiceLed_,(150,10)
	goto start                    'loop back to start

'Bambino-04
Sertxd("B04",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01		'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02		'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03		'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04		'Set servos to mid position	


'Set servos to mid position
'--------------------------
'	remove horn screws
'	remove horns from servos
'	run program
'	attach horns so 
'		feet are side by side
'		feet are both flat on the ground
'		fasten the horns with the screws

symbol servopace      =c.0
symbol servoroll      =c.4
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol eyeR           =c.7		  	
symbol eyeL           =c.1		  	
symbol iIRin          =c.6
symbol oIRout         =b.2

initialise:
	low eyeLedR_			'make output
	high eyeLedL_		'make output

start:
	toggle eyeLedR_		'flash eyeR so we know program is running
	toggle eyeLedL_		'flash eyeL so we know program is running
	pulsout servopace,150	'pulse servo 1.5ms
	pulsout servoroll,150	'pulse servo 1.5ms
	pause 20			'pause 20ms
	goto start              'loop back to start

'Bambino-05
Sertxd("B05",cr)		'report program number

#PicAxe 20M2
#no_data
read 255,b1
Sertxd("255 is ",#b1,cr)
'Bambino-01		'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02		'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03		'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04		'Set servos to mid position	
'Bambino-05		'Calibrate servo mid positions and put in EEPROM.


'Calibrate servo mid positions.
'-----------------------------
'The pulsout value must be between 100 and 200 otherwise the servo may be damaged.
'Because of the way each servo is made and
'  the horns can only be put on about every 15 degrees
'  the feet may not be exactly side by side or flat on the ground.
'Edit the servo mid positions, rollC and paceC, and
'   reload the program until the feet are in the right position..
'The calibrated values are stored in EEPROM for further programs.


symbol servopace      =c.0	'left connector
symbol servoroll      =c.4	'right connector
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol eyeR           =c.7		  	
symbol eyeL           =c.1		  	
symbol iIRin          =c.6
symbol oIRout         =b.2

symbol rollC	=155	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

write 254,rollC		'save for other programs
write 255,paceC		'save for other programs 

initialise:
	low eyeLedR_			'make output
	high eyeLedL_			'make output

start:
	toggle eyeLedR_			'flash eyeR so we know program is running
	toggle eyeLedL_			'flash eyeR so we know program is running
	pulsout servopace,paceC		'pulse servo paceC
	pulsout servoroll,rollC		'pulse servo rollC
	pause 20			'pause 20ms
	goto start                      'loop back to start

'Bambino-06
Sertxd("B06",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01		'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02		'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03		'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04		'Set servos to mid position	
'Bambino-05		'Calibrate servo mid positions and put in EEPROM.
'Bambino-06		'Introduce _iStand:- initialise with feet in mid position


'Introduce _iStand:- initialise with feet in mid position
'--------------------------------------------------------

'modified
'--------
'initialise:

'New
'---
'i
'_iStand:

symbol oservopace     =c.0	'left connector
symbol oservoroll     =c.4	'right connector
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol iIRin          =c.6
symbol oIRout         =b.2

symbol rollC	=150	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

symbol i 		=b2


initialise:
	low eyeLedR_			'make output
	high eyeLedL_			'make output
	gosub _iStand

start:
	toggle eyeLedR_			'flash eyeR so we know program is running
	toggle eyeLedL_			'flash eyeR so we know program is running
	pause 20				'pause 20ms
	goto start                    'loop back to start


_iStand:
'initialise with feet in mid position
	for i=0 to 10
	  pulsout oservopace,paceC	'pulse servo paceC
	  pulsout oservoroll,rollC	'pulse servo rollC
	  pause 70				'pause 70ms - do it slowly
	 next i
	return 

'Bambino-07
Sertxd("B07",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR


'Set rollR
'---------
'edit rollR and reload program until left foot is just off the ground

'modified
'--------
'initialise:
'start
'_iStand

'New
'---
'rollR
'rollspeed
'rollat
'sframe:
'_rollR


symbol servopace      =c.0    'left connector
symbol servoroll      =c.4    'right connector
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol iIRin          =c.6
symbol oIRout         =b.2

symbol rollC	=150	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

symbol i 		=b2
symbol rollat 	=b3

symbol rollR      =rollC+15
symbol rollspeed  =1
symbol sframe     =20   'time between servo pulses



initialise:
	low eyeLedR_    'make output
	high eyeLedL_   'make output
	gosub _iStand

start:
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub _rollR
	end



_rollR:
	for i=rollat to rollR step rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 
	 
_iStand:
'initialise with feet in mid position
	for i=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70			'pause 70ms - do it slowly
	 next i
 	rollat =rollC
	return 

'Bambino-08
Sertxd("B08",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01		'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02		'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03		'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04		'Set servos to mid position	
'Bambino-05		'Calibrate servo mid positions and put in EEPROM.
'Bambino-06		'Introduce _iStand:- initialise with feet in mid position
'Bambino-07		'Set rollR
'Bambino-08		'Set rollL


'Set rollL
'---------
'edit rollL and reload program 
'	until left foot is just off the ground.

'modified
'--------
'start:

'New
'---
'rollL
'_rollL:


symbol servopace      =c.0	'left connector
symbol servoroll      =c.4	'right connector
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol iIRin          =c.6
symbol oIRout         =b.2

symbol rollC	=150	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

symbol i 		=b2
symbol rollat 	=b3

symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =1
symbol sframe     =20	'time between servo pulses


initialise:
	low eyeLedR_		'make output
	high eyeLedL_	'make output
	gosub _iStand
	
start:
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub _rollL
	end



_rollL:
	for i=rollat to rollL step -rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 
	 
_rollR:
	for i=rollat to rollR step rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 

_iStand:
'initialise with feet in mid position
	for i=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70				'pause 70ms - do it slowly
	 next i
	rollat =rollC
	return 

'Bambino-09
Sertxd("B09",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL


'Check rollR, rollL
'------------------
'edit rollR and rollL and reload program 
'	until left and right roll is equal
'	You might have to take out the download cable to 
'	check what is right, because it pulls the robot.

'Investigate effect of rollspeed
'-------------------------------
'edit rollspeed to see how Woodly performs


'modified
'--------
'start:

'New
'---


symbol servopace      =c.0    'left connector
symbol servoroll      =c.4    'right connector
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol iIRin          =c.6
symbol oIRout         =b.2

symbol rollC	=150	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

symbol i 		=b2
symbol rollat 	=b3

symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =3    '4 is too fast, 0 won't move
symbol sframe     =20	'time between servo pulses


initialise:
	low eyeLedR_	'make output
	high eyeLedL_	'make output
	gosub _iStand


start:
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub _rollR
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub _rollL
	goto start



_rollL:
	for i=rollat to rollL step -rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 
	 
_rollR:
	for i=rollat to rollR step rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 

_iStand:
'initialise with feet in mid position
	for i=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70				'pause 70ms - do it slowly
	 next i
	rollat =rollC
	return 

'Bambino-10
Sertxd("B10",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL
'Bambino-10	'Introduction of _Stand

'Introduction of _Stand
'----------------------
'You might have to take out the download cable to check what is right, because it pulls the robot.


'modified
'--------
'initialise:
'start:

'New
'---
'i2
'Stand	'stand with both feet flat

symbol servopace      =c.0    'left connector
symbol servoroll      =c.4    'right connector
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol iIRin          =c.6

symbol rollC	=150	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

symbol i 		=b2
symbol i2 		=b3
symbol rollat 	=b4

symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =3    '4 is too fast, 0 won't move
symbol sframe     =20	'time between servo pulses


initialise:
	low eyeLedR_	'make output
	high eyeLedL_	'make output
	gosub _iStand

start:
      for i2=1 to 5
        toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollR
	  toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollL
	 next i2
	for i2=1 to 5
        toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollR
	  gosub Stand
	  pause 500
	  toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollL
	  gosub Stand
	  pause 500
	 next i2
	goto start



Stand:	'stand with both feet flat
	if rollat<rollC then _StandR
_StandL:
	for i=rollat to rollC step -rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 
_StandR:
	for i=rollat to rollC step rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 

_rollL:
	for i=rollat to rollL step -rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 
	 
_rollR:
	for i=rollat to rollR step rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 

_iStand:
'initialise with feet in mid position
	for i=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70			'pause 70ms - do it slowly
	 next i
	rollat =rollC
	return 

'Bambino-11
Sertxd("B11",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL
'Bambino-10	'Introduction of _Stand
'Bambino-11	'Investigate effect of rollspeed;	watch roll for all three speeds

'Investigate effect of rollspeed with rollat a variable
'------------------------------------------------------
'watch roll for all three speeds
'	You might have to take out the download cable to 
'	check what is right, because it pulls the robot.

'modified
'--------
'initialise:
'start:

'New
'---
'rollspeed is now a variable


symbol servopace      =c.0	'left connector
symbol servoroll      =c.4	'right connector
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol iIRin          =c.6
symbol oIRout         =b.2

symbol rollC	=150	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

symbol i 		=b2
symbol i2 		=b3
symbol rollat 	=b4

symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =b6   '4 is too fast, 0 won't move
symbol sframe     =20	'time between servo pulses



initialise:
	low eyeLedR_	'make output
	high eyeLedL_	'make output
	gosub _iStand
	rollspeed =1  

start:
      for i2=1 to 5
        toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollR
	  toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollL
	 next i2
	rollspeed =rollspeed +1  
	if rollspeed>3 then initialise
	goto start



Stand:
	if rollat<rollC then _StandR
_StandL:
	for i=rollat to rollC step -rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 
_StandR:
	for i=rollat to rollC step rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 

_rollL:
	for i=rollat to rollL step -rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 
	 
_rollR:
	for i=rollat to rollR step rollspeed
	  rollat =i
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next i
	return 

_iStand:
'initialise with feet in mid position
	for i=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70			'pause 70ms - do it slowly
	 next i
	rollat =rollC
	return 

'Bambino-12
Sertxd("B12",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL
'Bambino-10	'Introduction of _Stand
'Bambino-11	'Investigate effect of rollspeed;	watch roll for all three speeds
'Bambino-12	'Investigate effect of rollspeed;	watch Roll and Stand for all three speeds


'Investigate effect of rollspeed
'-------------------------------
'watch Roll and Stand for all three speeds
'	You might have to take out the download cable to 
'	check what is right, because it pulls the robot.

'modified
'--------
'start:

'New
'---

symbol servopace      =c.0    'left connector
symbol servoroll      =c.4    'right connector
symbol VoiceLed_      =c.5
symbol eyeLedL_       =c.2    'low =>LED on 
symbol eyeLedR_       =b.1    'low =>LED on
symbol whiskerLedL_   =c.3    'low =>whisker LED on
symbol whiskerLedR_   =b.3    'low =>whisker LED on
symbol iIRin          =c.6

symbol rollC	=150	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

symbol spulse	=b2
symbol i2 		=b3
symbol rollat 	=b4

symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =b6   '4 is too fast, 0 won't move
symbol sframe     =20	'time between servo pulses



initialise:
	low eyeLedR_	'make output
	high eyeLedL_	'make output
	gosub _iStand
	rollspeed =1  

start:
      for i2=1 to 3
        toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollR
	  toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollL
	 next i2
 	for i2=1 to 3
        toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollR
	  gosub Stand
	  pause 500
	  toggle eyeLedR_	'alter eyeR so we know program is running
	  toggle eyeLedL_	'alter eyeR so we know program is running
	  gosub _rollL
	  gosub Stand
	  pause 500
	 next i2
	rollspeed =rollspeed +1  
	if rollspeed>3 then initialise
	goto start



Stand:
	if rollat<rollC then _StandR
_StandL:
	for spulse=rollat to rollC step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next spulse
	return 
_StandR:
	for spulse=rollat to rollC step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next spulse
	return 

_rollL:
	for spulse=rollat to rollL step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next spulse
	return 
	 
_rollR:
	for spulse=rollat to rollR step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pause sframe
	 next spulse
	return 

_iStand:
'initialise with feet in mid position
	for spulse=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70			'pause 70ms - do it slowly
	 next spulse
	rollat =rollC
	return 

'Bambino-13
Sertxd("B13",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL
'Bambino-10	'Introduction of _Stand
'Bambino-11	'Investigate effect of rollspeed;	watch roll for all three speeds
'Bambino-12	'Investigate effect of rollspeed;	watch Roll and Stand for all three speeds
'Bambino-13	'Check paceFL paceFR;	Investigate effect of pacespeed

'Check paceFL paceFR
'-------------------
'edit paceFL and paceFR and reload program 
'	until left and right pace is equal

'Investigate effect of pacespeed
'-------------------------------
'edit pacespeed to see how Bambino performs


'modified
'--------
'init
'start
'_StandL:
'_StandR
'_rollL
'_rollR

'New
'---
'paceat
'paceFR	'Right foot forward
'paceFL	'Left  foot forward
'pacespeed
'_RF
'_LF


symbol servopace    =c.0 'left connector
symbol servoroll    =c.4 'right connector
symbol VoiceLed_    =c.5
symbol eyeLedL_     =c.2 'low =>LED on 
symbol eyeLedR_     =b.1 'low =>LED on
symbol whiskerLedL_ =c.3    'low =>whisker LED on
symbol whiskerLedR_ =b.3    'low =>whisker LED on
symbol iIRin        =c.6
symbol oIRout       =b.2

symbol rollC	=150	'100 is roll to the left
symbol paceC	=150	'100 is left foot back

symbol spulse 	=b2
'symbol i2 		=b3
symbol rollat 	=b4
symbol paceat 	=b5

symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =b6   '4 is too fast, 0 won't move
symbol paceFR	=paceC-20	'Right foot forward
symbol paceFL	=paceC+20	'Left  foot forward
symbol paceFRmax	=100	'Right foot forward
symbol paceFLmax	=190	'Left  foot forward
symbol sframe     =20	'time between servo pulses
symbol pacespeed  =b7    '6 is about max for servos to keep up



initialise:
	low eyeLedR_		'make output
	high eyeLedL_	'make output
	gosub _iStand
	pacespeed =6  

start:
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub _RF
	pause 500
	gosub _LF
	pause 500
	goto start




_RF:
	for spulse=paceat to paceFR step -pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_LF:
	for spulse=paceat to paceFL step pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

Stand:	'stand with both feet flat
	if rollat<rollC then _StandR
_StandL:
	for spulse=rollat to rollC step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_StandR:
	for spulse=rollat to rollC step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

_rollL:
	for spulse=rollat to rollL step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
	 
_rollR:
	for spulse=rollat to rollR step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

_iStand:
'initialise with feet in mid position
	for spulse=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70				'pause 70ms - do it slowly
	 next spulse
	rollat =rollC
	paceat =paceC 
	return 

'Bambino-14
Sertxd("B14",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL
'Bambino-10	'Introduction of _Stand
'Bambino-11	'Investigate effect of rollspeed;	watch roll for all three speeds
'Bambino-12	'Investigate effect of rollspeed;	watch Roll and Stand for all three speeds
'Bambino-13	'Check paceFL paceFR;	Investigate effect of pacespeed
'Bambino-14	'Check Fd



'Check paceFL paceFR
'-------------------
'edit paceFL and paceFR and reload program 
'	until left and right pace are equal

'Investigate effect of rollspeed
'-------------------------------
'edit pacespeed to see how Bambino performs


'modified
'--------
'start:

'New
'---
'Fd:

symbol servopace    =c.0 'left connector
symbol servoroll    =c.4 'right connector
symbol VoiceLed_    =c.5
symbol eyeLedL_     =c.2 'low =>LED on 
symbol eyeLedR_     =b.1 'low =>LED on
symbol whiskerLedL_ =c.3    'low =>whisker LED on
symbol whiskerLedR_ =b.3    'low =>whisker LED on
symbol iIRin        =c.6
symbol oIRout       =b.2

symbol spulse 	=b2
'symbol i 		=b3
symbol rollat 	=b4
symbol paceat 	=b5

symbol rollC	=150	'100 is roll to the left
symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =b6   '4 is too fast, 0 won't move
	rollspeed =2  	'4 is too fast, 0 won't move
symbol paceC	=150	'100 is left foot back
symbol paceFR	=paceC-20	'Right foot forward
symbol paceFL	=paceC+20	'Left  foot forward
symbol paceFRmax	=100	'Right foot forward
symbol paceFLmax	=190	'Left  foot forward
symbol sframe     =20	'time between servo pulses
symbol pacespeed  =b7   '6 is about max for servos to keep up
	pacespeed =5   	'6 is about max for servos to keep up  



initialise:
	low eyeLedR_	'make output
	high eyeLedL_	'make output
	gosub _iStand
	

start:
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub Fd
	goto start


Fd:
sertxd (" Fd")
	if paceat<paceC then _FdL 'else _FdR
_FdR:
'sertxd ("_FdR")
	gosub _rollL
	gosub _RF
	gosub Stand
	return
_FdL:
'sertxd ("_FdL")
	gosub _rollR
	gosub _LF
	gosub Stand
	return
	
	
	
_RF:
'sertxd ("_RF")
	for spulse=paceat to paceFR step -pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_LF:
'sertxd ("_LF")
	for spulse=paceat to paceFL step pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

Stand:	'stand with both feet flat
sertxd (" Sd")
	if rollat<rollC then _StandR 'else _StandL
_StandL:
'sertxd ("_SL")
	for spulse=rollat to rollC step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_StandR:
'sertxd ("_SR")
	for spulse=rollat to rollC step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 


_rollL:
'sertxd ("_rL")
	for spulse=rollat to rollL step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
	 
_rollR:
'sertxd ("_rR")
	for spulse=rollat to rollR step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

_iStand:
'initialise with feet in mid position
	for spulse=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70				'pause 70ms - do it slowly
	 next spulse
	rollat =rollC
	paceat =paceC 
	return 

'Bambino-15
Sertxd("B15",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL
'Bambino-10	'Introduction of _Stand
'Bambino-11	'Investigate effect of rollspeed;	watch roll for all three speeds
'Bambino-12	'Investigate effect of rollspeed;	watch Roll and Stand for all three speeds
'Bambino-13	'Check paceFL paceFR;	Investigate effect of pacespeed
'Bambino-14	'Check Fd
'Bambino-15	'Test Rt, Lt


'Test Rt, Lt
'-------------
'	edit rollC to tune the turns

'modified
'--------
'start:

'New
'---
'Rt
'Lt

symbol servopace    =c.0 'left connector
symbol servoroll    =c.4 'right connector
symbol VoiceLed_    =c.5
symbol eyeLedL_     =c.2 'low =>LED on 
symbol eyeLedR_     =b.1 'low =>LED on
symbol whiskerLedL_ =c.3    'low =>whisker LED on
symbol whiskerLedR_ =b.3    'low =>whisker LED on
symbol iIRin        =c.6
symbol oIRout       =b.2

symbol spulse 	=b2
'symbol i 		=b3
symbol rollat 	=b4
symbol paceat 	=b5

symbol rollC	=150	'100 is roll to the left
symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =b6   '4 is too fast, 0 won't move
	rollspeed =1  	'4 is too fast, 0 won't move
symbol paceC	=150	'100 is left foot back
symbol paceFR	=paceC-20	'Right foot forward
symbol paceFL	=paceC+20	'Left  foot forward
symbol paceFRmax	=100	'Right foot forward
symbol paceFLmax	=190	'Left  foot forward
symbol sframe     =20	'time between servo pulses
symbol pacespeed  =b7   '6 is about max for servos to keep up
	pacespeed =4   	'6 is about max for servos to keep up  



initialise:
	low eyeLedR_	'make output
	high eyeLedL_	'make output
	gosub _iStand
	

start:
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub Rt
	gosub Rt
	gosub Rt
	gosub Rt
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub Lt
	gosub Lt
	gosub Lt
	gosub Lt
	goto start


Fd:
sertxd (" Fd")
	if paceat<paceC then _FdL 'else _FdR
_FdR:
'sertxd ("_FdR")
	gosub _rollL
	gosub _RF
	gosub Stand
	return
_FdL:
'sertxd ("_FdL")
	gosub _rollR
	gosub _LF
	gosub Stand
	return
	

Rt:
	if paceat<paceC then gosub Fd	'need left foot forward
	gosub _RF
	return
	
Lt:
	if paceat>paceC then gosub Fd	'need right foot forward
	gosub _LF
	return

_RF:
'sertxd ("_RF")
	for spulse=paceat to paceFR step -pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_LF:
'sertxd ("_LF")
	for spulse=paceat to paceFL step pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

Stand:	'stand with both feet flat
sertxd (" Sd")
	if rollat<rollC then _StandR 'else _StandL
_StandL:
'sertxd ("_SL")
	for spulse=rollat to rollC step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_StandR:
'sertxd ("_SR")
	for spulse=rollat to rollC step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 


_rollL:
'sertxd ("_rL")
	for spulse=rollat to rollL step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
	 
_rollR:
'sertxd ("_rR")
	for spulse=rollat to rollR step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

_iStand:
'initialise with feet in mid position
	for spulse=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70				'pause 70ms - do it slowly
	 next spulse
	rollat =rollC
	paceat =paceC 
	return 

'Bambino-15a
'Bambino-15a
Sertxd("B15a",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL
'Bambino-10	'Introduction of _Stand
'Bambino-11	'Investigate effect of rollspeed;	watch roll for all three speeds
'Bambino-12	'Investigate effect of rollspeed;	watch Roll and Stand for all three speeds
'Bambino-13	'Check paceFL paceFR;	Investigate effect of pacespeed
'Bambino-14	'Check Fd
'Bambino-15	'Test Rt, Lt
'Bambino-15a	'Test T2L Turn to Light, T2D Turn to Dark

'Test T2L Turn to Light, T2D Turn to Dark
'----------------------------------------

'modified
'--------
'start:

'New
'---
'T2L
'T2D

symbol servopace    =c.0	'left connector
symbol servoroll    =c.4	'right connector
symbol VoiceLed_    =c.5
symbol eyeLedL_     =c.2
symbol eyeLedR_     =b.1
symbol whiskerLedL_ =c.3    'low =>whisker LED on
symbol whiskerLedR_ =b.3    'low =>whisker LED on
symbol iIRin        =c.6
symbol oIRout       =b.2
symbol eyeR         =c.7		  	
symbol eyeL         =c.1		  	


symbol spulse 	=b2
'symbol i 		=b3
symbol rollat 	=b4
symbol paceat 	=b5

symbol rollC	=150	'100 is roll to the left
symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =b6   '4 is too fast, 0 won't move
	rollspeed =1  	'4 is too fast, 0 won't move
symbol paceC	=150	'100 is left foot back
symbol paceFR	=paceC-20	'Right foot forward
symbol paceFL	=paceC+20	'Left  foot forward
symbol paceFRmax	=100	'Right foot forward
symbol paceFLmax	=190	'Left  foot forward
symbol sframe     =20	'time between servo pulses
symbol pacespeed  =b7   '6 is about max for servos to keep up
	pacespeed =4   	'6 is about max for servos to keep up  



initialise:
	low eyeLedR_	'make output
	high eyeLedL_	'make output
	gosub _iStand
	

start:
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub Rt
	gosub Rt
	gosub Rt
	gosub Rt
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub Lt
	gosub Lt
	gosub Lt
	gosub Lt
	goto start


T2L:



Fd:
sertxd (" Fd")
	if paceat<paceC then _FdL 'else _FdR
_FdR:
'sertxd ("_FdR")
	gosub _rollL
	gosub _RF
	gosub Stand
	return
_FdL:
'sertxd ("_FdL")
	gosub _rollR
	gosub _LF
	gosub Stand
	return
	

Rt:
	if paceat<paceC then gosub Fd	'need left foot forward
	gosub _RF
	return
	
Lt:
	if paceat>paceC then gosub Fd	'need right foot forward
	gosub _LF
	return

_RF:
'sertxd ("_RF")
	for spulse=paceat to paceFR step -pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_LF:
'sertxd ("_LF")
	for spulse=paceat to paceFL step pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

Stand:	'stand with both feet flat
sertxd (" Sd")
	if rollat<rollC then _StandR 'else _StandL
_StandL:
'sertxd ("_SL")
	for spulse=rollat to rollC step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_StandR:
'sertxd ("_SR")
	for spulse=rollat to rollC step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 


_rollL:
'sertxd ("_rL")
	for spulse=rollat to rollL step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
	 
_rollR:
'sertxd ("_rR")
	for spulse=rollat to rollR step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

_iStand:
'initialise with feet in mid position
	for spulse=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70				'pause 70ms - do it slowly
	 next spulse
	rollat =rollC
	paceat =paceC 
	return 

'Bambino-16
'>Bambino-16
'>Robot R-Bambino
Sertxd("B16",cr)		'report program number

#PicAxe 20M2
#no_data

'Bambino-01	'Test eyeLEDs, whiskerLEDs and speaker
'Bambino-02	'Test InfraRed input
'Bambino-02a	'Test Eye light values
'Bambino-02b	'Test Whisker light values and put in EEPROM
'Bambino-03	'Play the inbuilt tunes using keys 1 to 4 and beep on 5
'Bambino-04	'Set servos to mid position	
'Bambino-05	'Calibrate servo mid positions and put in EEPROM.
'Bambino-06	'Introduce _iStand:- initialise with feet in mid position
'Bambino-07	'Set rollR
'Bambino-08	'Set rollL
'Bambino-09	'Check rollR, rollL
'Bambino-10	'Introduction of _Stand
'Bambino-11	'Investigate effect of rollspeed;	watch roll for all three speeds
'Bambino-12	'Investigate effect of rollspeed;	watch Roll and Stand for all three speeds
'Bambino-13	'Check paceFL paceFR;	Investigate effect of pacespeed
'Bambino-14	'Check Fd
'Bambino-15	'Test Rt, Lt
'Bambino-15a	'Test T2L Turn to Light, T2D Turn to Dark
'Bambino-16	'Test Bk


'Test Bk
'--------

'modified
'--------
'start:

'New
'---
'Bk
'_BkR
'_BkL

symbol servopace    =c.0 'left connector
symbol servoroll    =c.4 'right connector
symbol VoiceLed     =c.5 'low =>LED on 
symbol eyeLedL_     =c.2 'low =>LED on 
symbol eyeLedR_     =b.1 'low =>LED on
symbol whiskerLedL_ =c.3    'low =>whisker LED on
symbol whiskerLedR_ =b.3    'low =>whisker LED on
symbol iIRin        =c.6
symbol oIRout       =b.2

symbol spulse 	=b2
'symbol i 		=b3
symbol rollat 	=b4
symbol paceat 	=b5

symbol rollC	=150	'100 is roll to the left
symbol rollR      =rollC+15
symbol rollL      =rollC-15
symbol rollspeed  =b6   '4 is too fast, 0 won't move
	rollspeed =2  	'4 is too fast, 0 won't move
symbol paceC	=150	'100 is left foot back
symbol paceFR	=paceC-20	'Right foot forward
symbol paceFL	=paceC+20	'Left  foot forward
symbol paceFRmax	=100	'Right foot forward
symbol paceFLmax	=190	'Left  foot forward
symbol sframe     =20	'time between servo pulses
symbol pacespeed  =b7   '6 is about max for servos to keep up
	pacespeed =2   	'6 is about max for servos to keep up  




initialise:
	low eyeLedR_		'make output
	high eyeLedL_	'make output
	gosub _iStand
	

start:
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub Fd
	gosub Fd
	gosub Fd
	gosub Fd
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	gosub Bk
	gosub Bk
	gosub Bk
	gosub Bk
	toggle eyeLedR_	'alter eyeR so we know program is running
	toggle eyeLedL_	'alter eyeR so we know program is running
	goto start


Fd:
sertxd (" Fd")
	if paceat<paceC then _FdL 'else _FdL
_FdR:
'sertxd ("_FdR")
	gosub _rollL
	gosub _RF
	gosub Stand
	return
_FdL:
'sertxd ("_FdL")
	gosub _rollR
	gosub _LF
	gosub Stand
	return
	

Bk:
sertxd (" Bk")
	if paceat<paceC then _BkR 'else _BkL
_BkL:
	gosub _rollR
	gosub _RF
	gosub Stand
	return
_BkR:
	gosub _rollL
	gosub _LF
	gosub Stand
	return


Rt:
	if paceat<paceC then gosub Fd	'need left foot forward
	gosub _RF
	return
	
Lt:
	if paceat>paceC then gosub Fd	'need right foot forward
	gosub _LF
	return

_RF:
'sertxd ("_RF")
	for spulse=paceat to paceFR step -pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_LF:
'sertxd ("_LF")
	for spulse=paceat to paceFL step pacespeed
	  paceat =spulse
	  pulsout servopace,paceat	'pulse servo
	  pulsout servoroll,rollat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

Stand:	'stand with both feet flat
sertxd (" Sd")
	if rollat<rollC then _StandR 'else _StandL
_StandL:
'sertxd ("_SL")
	for spulse=rollat to rollC step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
_StandR:
'sertxd ("_SR")
	for spulse=rollat to rollC step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 


_rollL:
'sertxd ("_rL")
	for spulse=rollat to rollL step -rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 
	 
_rollR:
'sertxd ("_rR")
	for spulse=rollat to rollR step rollspeed
	  rollat =spulse
	  pulsout servoroll,rollat	'pulse servo
	  pulsout servopace,paceat	'pulse servo hold in position
	  pause sframe
	 next spulse
	return 

_iStand:
'initialise with feet in mid position
	for spulse=0 to 10
	  pulsout servopace,paceC	'pulse servo paceC
	  pulsout servoroll,rollC	'pulse servo rollC
	  pause 70				'pause 70ms - do it slowly
	 next spulse
	rollat =rollC
	paceat =paceC 
	return