Hx1Acts.txt 'Acts '---- chirp1 DATA "v",1,20,"z" '"v",100,30,"v",2,20,"z" beep2 DATA "Vh",1,"Vz" wiggle1 DATA "UDFx",xleds,2,"BCx",xleds,1,"RLOBPMz" wiggle2 DATA "UFFi",A_chirp1,"BBz" wiggle3 DATA "U1f1b1f1mFRRLLB6f5f4f3f2f1f0mVSVVZz" Qs4r170 DATA "Qs",4,"r",170,"z" Ts0r200 DATA "Ts",0,"r",200,"z" 'feet drag if not "T" tround DATA "s",15,"RRRRRRRRRRRRs",4,"z" beg DATA "Vs",4,"VUV" 'speed 4, Up DATA 0,$43,127 'speed 4, servo 3, leg 3 up DATA 0,$49,127 'speed 4, servo 9, leg 4 up DATA 0,$42,170 'speed 4, servo 2, leg 3 forward DATA 0,$48,90 'speed 4, servo 8, leg 4 forward DATA "WU" 'wait for move to finish then Up DATA 0,$25,255 'speed 2, servo 5, leg 5 up DATA 0,$2B,0 'speed 2, servo 11, leg 6 up DATA 0,$F1,255 'speed 15, servo 1, leg 1 up DATA 0,$F7,0 'speed 15, servo 7, leg 2 up DATA 0,$40,200 'speed 4, servo 0, leg 1 forward DATA 0,$46,50 'speed 4, servo 6, leg 2 forward DATA "s",2,"WU" 'speed 2, wait, Up DATA "s",4,"z" 'speed 4, end of list Rface DATA "s",15,"RRR","s",2,"z" Lface DATA "s",15,"LLL","s",2,"z" F5 DATA "s",15,"FFFFF","s",2,"z" R5 DATA "s",15,"RRRRR","s",2,"z" L5 DATA "s",15,"LLLLL","s",2,"z" BR DATA "BRz" BL DATA "BLz" L3 DATA "s",15,"LLL","s",4,"z" R3 DATA "s",15,"RRR","s",4,"z" L2 DATA "s",15,"LL","s",4,"z" R2 DATA "s",15,"RR","s",4,"z" Iflash DATA "I",0,"h",1,"I",3,"h",2,"I",2,"h",2 DATA "I",3,"h",4,"I",1,"h",3,"I",3,"h",2,"z" 'Activities (Behaviours) '----------------------- Fbump DATA "b",bmpL,A_FbumpRI1 DATA "b",bmpR,A_FbumpLI2 DATA "b",bmpLR,A_FbumpBI3 DATA "I",0,"Fj",A_Fbump FbumpRI1 DATA "RI",1,"j",A_Fbump FbumpLI2 DATA "LI",2,"j",A_Fbump FbumpBI3 DATA "BI",3,"j",A_Fbump 'Ultrasonic Behaviours '--------------------- 'Rules - 'DATA direction,range,do if >,do if <,activity program,activity 'If the rule doesn't contain "I" then no sequence can be 'activated by it so any value could be used for the pointer 'value. null DATA "V",0 'null routine just beep sitby DATA "S" 'default action DATA usF, 20,"XB",0,0 'back if <=20 DATA usR2, 20,"XL",0,0 'left if <=20 DATA usL2, 20,"XR",0,0 'right if <=20 DATA usF, 25,"XI",1,A_tround 'action if <=25 DATA usR2, 25,"XI",1,A_tround 'action if <=25 DATA usL2, 25,"XI",1,A_tround 'action if <=25 DATA usF, 80,"XI",1,A_F5 'F5 if <80 DATA usR2, 80,"XI",1,A_R5 'R5 if <80 DATA usL2, 80,"XI",1,A_L5 'L5 if <80 DATA 0 'end of list beg DATA "S" DATA usF, 45,"XI",1,A_beg 'action if <=45 DATA usR2, 35,"XI",1,A_beg 'action if <=35 DATA usL2, 35,"XI",1,A_beg 'action if <=35 DATA 0 'end of list 'In hello, because the parameters for the three rules yawnon, 'yawner and resetyawn are the same, if beg was going to be 'activated then "Y" would be selected first then beg activated 'until yawn=4 then the beg rule would be skipped and the "y" 'rule done, then tround activated. hello DATA "S" DATA usF, 20,"XB",0,0 'back if <=20 DATA usR2, 20,"XI",1,A_BL 'left back if <=20 DATA usL2, 20,"XI",1,A_BR 'right back if <=20 yawnon DATA usF, 45,"XY",0,3 'increment usyawn0 'if usyawn0>3 then skip 'ie do beg 3 times before skipping yawner DATA usF, 45,"XI",1,A_beg 'action if <=45 resetyawn DATA usF, 45,"Xy",0,0 'reset usyawn0 if <=45 DATA usF, 45,"XI",1,A_tround 'action if <=45 DATA usR2, 45,"XI",1,A_Rface 'action if <=45 DATA usL2, 45,"XI",1,A_Lface 'action if <=45 DATA usF, 100,"XI",1,A_F5 'action if <=100 DATA usR2,100,"XI",1,A_R5 'action if <=100 DATA usL2,100,"XI",1,A_L5 'action if <=100 DATA 0 'end of list wander DATA "F" DATA usF, 40,"XI",1,A_tround 'action if <=30 DATA usR1, 40,"XI",1,A_L3 'left 2 if <=30 DATA usR2, 30,"XI",1,A_L2 'left 3 if <=30 DATA usL2, 30,"XI",1,A_R2 'right if <=30 DATA usL1, 40,"XI",1,A_R3 'right if <=30 DATA 0 'end of list