System Commands help oops zinit imap cmap smap forget learn nolearn unlearn replay rstep bplay play noRobot doRobot rlist ralter rfix rsave jump mlist mnames mexec mget mind quit Robot Commands MIND ihome home unwind head alert buzz jc wt n msg $ sb n sense n ROBOT zz s n FD n BK n RT n LT n PEN pu pd LIGHTS ll n rl n ls n flsh n flht n HORN hh n hl n hn n ho hoot n [space] stop, [Ctrl]+[Space] to break help - display help screens oops - recover from an error, if possible zinit - initialise robot and serial channel imap - initialise mapwith robot at home cmap - clean map, rubout displayed moves smap - scale map, rubout displayed moves forget - commamds in short term memory are erased learn - commands executed are learned nolearn - commands executed are not learned unlearn - command is executed in reverse and forgoten replay - learned commands are executed in order rstep - learned commands done one at a time bplay - learned commands are executed in reverse order noRobot - disable robot, work with just the screen robot doRobot - enable robot jump - learn a jump to another Act recorded as ! rlist - list commands in short term memory ralter - alter routine in short term memory rfix - end altering of short term memory rsave - save a learned routine to an Act - both to RAM and mind file mlist - list an Act mnames - list names of Acts in long term memory mexec - execute an Act from long term memory mget - copy an Act to short-term memory recorded as ^ mind - learn a change of Mind recorded as / - Minds are files, current one loaded to RAM quit - quit program, closing memory files zz - Z sleep, turn off power to motors Robot Commands - Mind' play - play all steps ihome - set present position to be the home position home - go to home position but don't unwind unwind - unwind umbilical until heading is 0 deg. alert - order computer to sound "alert" buzz - order computer to sound "buzz" jc - change to joystick control wt n - wait for 'n' 50'ths of a second msg cmnds - send command(s) to robot and print reply Robot Commands - Body FD n - forward 'n' BK n - back 'n' :millimetres LT n - left turn 'n' RT n - right turn 'n' :degrees pu - pen up pd - pen down ll n - left light hh n - horn high tone :( logical rl n - right light hl n - horn low tone :( 0=>off ls n - lights state hn n - horn state :bit control 2^1, left light /high tone ; 2^0, right light /low tone logical 1=>on 0=>off flsh n - flash lights 'n' times hoot n - cycle horn 'n' times flht n - flash lights, and cycle horn 'n' times s n - step delay for motors, 1 is fastest zz - Z sleep, turn off power to motors