MetaCmnds1.txt

'--------------------------------------------------------------
'
'Meta Commands overview - used in MultiProgSx1
'---------------------------------------------
'Ultrasonic behaviour rules
'  New
'  ---
'  Meta command "a" changed to "I" for include and Prog/Option
'
'  Meta command "A" eliminated - use I,x,0 instead
'
'  Explanation that meta command 'I' can allow a US behaviour to
'  transfer control to another behaviour.
'  Introduction of a meta command 'J' to allow a jump to another 
'  program without any return address being put on the stack.
'  "I"	if selected by the test then includes a Prog/Option,
'	first parameter is prognumber, second is Option. 
'	Return address is stacked.
'	"I" can be used to run any program + option including
'	US behaviours, however yawn variables values will be
'	inherited.
'  "X"	if action ="X" then ignore that result.
'  "J"	if action ="J" then jump to new program, no stack action
'	first parameter is prognumber, second is option
'	so we can even run another US behaviour.
'	If the Option is 0 then the jumped to Prog will be forced
'	to check the stack and so acts as RETURN.
'  Yawn 
'  ----
'	The yawn rules are special in that when an outcome of 
'	other rules is activated scanning through the rule set is
'	terminated, however the "Y" rule only tests whether the 
'	next rule should be used, and the "y" rule only resets 
'	the "yawn" variable before the rule following it is used. 
'	The first parameter byte for "Y" or "y" is the index to 
'	the yawn variable, 0=>usyawn0, 1=>usyawn1.
'	The second parameter byte is the threshold
'  "Y"	if selected by the test increments 'usyawnX'.
'	If 'usyawnX'> threshold then skip the following rule.
'  "y"	if selected then resets 'usyawnX' to 0
'  so select same parameters for rule to be skipped for both Y, y
'
'Sequences
'Sequences
'	z - terminator for sequences
'	J - Jump to another Program, where option is selected 
'		from Program's name table
'		"J",<prog>,<option>	jump to Prog with Option
'		eg	"J",7,U_LcdCon would jump to LCDKeys routine
'			"J",2,US_wander would jump to US_wander
'	j - jump, used in sequences, acts as a GOTO
'		eg "FBRLj",A_wiggle,"FROP..
'		jumps to the sequence 'A_wiggle' 
'		and ignores the rest of the original sequence,
'		use for endless sequences or for joining sequences
'		eg "FBRLj",A_wiggle
'		jumps to the sequence 'A_wiggle' instead of ending.
'		eg
'			wiggle DATA "FBRLj",A_wiggle
'		will do A_wiggle forever (or until battery goes flat)
'		Note the name is from the name table not a data pointer. 
'	i - include, use in sequences, acts as a GOSUB
'		eg "FBRLi",A_wiggle,"FROP.. 
'		does the sequence 'A_wiggle' and then returns.
' 	x - eXecute a Basic subroutine, used in sequences
'		"x",<routine number>,<argument>
'		eg "FBRLx",xleds,n,"FROP...
'		where xleds is the name of a constant used to 
'		control a Branch command in the subroutine Xecute
'		and 'n' is the parameter for the routine.
'		see Hextor26.BSx 
'	e - Evaluate, do a test in Basic and branch on the result
'	"e",<branch index to ename>,<argument>,<test{<,=,>}>,<activity>
'		eg "FBRLe",ebump,%01,"=",A_avoid,"FFBB...
'		where ebump is the name of a constant used to 
'		control a Branch command in the subroutine doeval.
'		In this case if the test was true then the sequence
'		A_avoid would be GOTOed.
'	u - do USrulename in Ultrasonic behaviour program
'		"u",<USrulename>
'		if the US-rules result in A then the the activity 
'		will be returned to
'	I - Indicators, change LEDs state
'		"I",<newLEDstate>	change LED state
'	b - bump, test feelers
'		"b",<bumpcode=0,1,2,3>,<activity>
'		if feelers=bumpcode then do <activity>
'		(bumpcode is logical value, feelers are active low)
'		bumpcode=0	no bump	
'		bumpcode=1	bumped left
'		bumpcode=2	bumped right
'		bumpcode=3	bumped both
'
'	A_null - running the Activity Sequencer program with 
'		A_null in CommonRAM as the activity to do causes 
'		the program to look in the CommonRAM stack for the
'		place to resume sequencing. If there is no 
'		suspended activity then the program runs pgm0.
'===============================================================