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| home > | Pop-Ambler < Mom-Ambler > Joe-Ambler | 20 December 2025 |
| Mom - a.k.a - Efi-Ambler by David Buckley | August 2002 |
 as at November 2008 |
The walking action is different because of the increased mass high up and the reduced mass of the feet but Mom taking quicker and shorter steps is just as good a walker as Pop. It wasn't intended but Pop strides in a masculin way and Mom walks best in a more feminine way.
On power on the Initialisation Act in the BS2 runs.
Then the default Act is got from the PicAxe08 which reads it from the Hex switch.
The current Default Act can be changed anytime by a running Act.
If enabled the Toe Sensors are checked during every step, 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.
The BS2 reads - the toe bump switches - user pot. - ultrasonic sensor - serial HexSwitch value from the PicAxe-08 controls - beeper/voice LED - pace servo - roll servo The PicAxe-08 - reads the Hex Switch - sends the valut to the BS2 after power on
Brain circuit
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 - test Right and Left turning 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