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| home > | Mom-Ambler < Joe-Ambler > Aesir | 20 December 2025 |
| Joe - by David Buckley | November 2002 |
 as at November 2008 |
The controller is a 'Schools Stamp' from Milford Instruments with an embeded BS2 on a custom PCB.
There is an auxillary PicAxe-18x which displays the current Act and reads the LDR eyes.
There is an auxillary PicAxe-08m2 on each foot wich reads the Bump Switch and 'Twinkle Toes' obstacle detectors.
On power on the default Act is got from the PicAxe18x.
The current Default Act can be changed anytime by a running Act.
If enabled the Toe Bump Sensors are checked during every step, a toe bump will stop the step and invoke the bump reactions.
A decaying count of toe hurts is maintained and if it passes a threshold then frustration reactions will be done.
For testing sensors press either toe at poweron to disable servos.
The BS2
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On poweron waits for the Act number to be sent from the 18x
reads
- the toe bump switches
- user pot which can set the speed of walking.
- ultrasonic sensor
- serial Act and eye values from the PicAxe-18x
- if eyewalking waits for the eye values to be sent from the 18x
controls
- beeper/voice LED
- pace servo
- roll servo
The PicAxe-18x
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On poweron if the button (below the hex display) is pressed -
the Act on the 7-segment display will flash brightly five times,
while flashing will with each button press increment through 20 Acts remembering the last one.
(0 - 9 and .0 - .9 for the second decade 10 - 19)
- displays the current default Act
- remembers the set Act
- repeatedly reads the LDR eyes and averages and scales the reading
and sends the remembered Act and eye values to the BS2
The PicAxe-08m2 - one on each foot
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- awaits a 'B' ot 'T' command from the BS2
and reads either the Bump sensor switch or the Twinkle Toes optical obstacle detector.
- serially sends the result to the BS2.
Milford's School's Stamp based PCB
Acts at program v5.5
- set by Hex-switch
0 - Halt and wait 1 - Walk Forwards 2 - Toe bump sensors on, walk Forwards 3 - Toe bump sensors on, walk Forwards towards Light 4 - Toe bump sensors on, walk Forwards towards Dark 5 - Ultrasonic Sensor on, walk Forwards 6 - Ultrasonic Sensor on, walk Forwards towards Light 7 - Ultrasonic Sensor on, walk Forwards towards Dark 8 - drop through to 7 9 - drop through to 8 10 - drop through to 9 11 - drop through to 10 12 - drop through to 11 13 - drop through to 12 14 - drop through to 13 (or test walking if enabled in Editor) 15 - just beep 16 - defaults to 0 in the BS2 program 17 - defaults to 0 in the BS2 program 18 - defaults to 0 in the BS2 program 19 - defaults to 0 in the BS2 program