RoboSavvy Forum Robosavvy Forum: The largest online community of Humanoid Robot Builders 2011-02-08T00:05:47+01:00 http://forum.robosavvy.com/feed.php?f=4&t=6982 2011-02-08T00:05:47+01:00 2011-02-08T00:05:47+01:00 http://forum.robosavvy.com/viewtopic.php?t=6982&p=30109#p30109 <![CDATA[Code that makes RoboNova stand up when he falls down?]]>

Statistics: Posted by reubenwilcock — Tue Feb 08, 2011 12:05 am

]]> 2011-02-07T23:47:31+01:00 2011-02-07T23:47:31+01:00 http://forum.robosavvy.com/viewtopic.php?t=6982&p=30107#p30107 <![CDATA[Code that makes RoboNova stand up when he falls down?]]>
' action_30
'== forward standup ============================
DIM A AS BYTE
DIM A16 AS BYTE

PTP SETON
PTP ALLON

'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0
DIR G6B,1,1,1,1,1,1
DIR G6C,0,0,0,0,0,0
DIR G6D,0,1,1,0,1,0

'== motor start position read ===================
GETMOTORSET G6A,1,1,1,1,1,0
GETMOTORSET G6B,1,1,1,0,0,0
GETMOTORSET G6C,1,1,1,0,0,0
GETMOTORSET G6D,1,1,1,1,1,0

SPEED 5

'== motor power on =============================
MOTOR G24

GOSUB standard_pose

'================================================
MAIN:

A = REMOCON(1)
IF A <> 25 THEN GOTO main

GOSUB forward_standup
GOSUB standard_pose
GOTO MAIN

'================================================
standard_pose:
MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
MOVE G6B,100, 30, 80, 100, 100, 100
MOVE G6C,100, 30, 80, 100, 100, 100
WAIT
RETURN
'================================================
forward_standup:

SPEED 10

MOVE G6A,100, 130, 120, 80, 110, 100
MOVE G6D,100, 130, 120, 80, 110, 100
MOVE G6B,150, 160, 10, 100, 100, 100
MOVE G6C,150, 160, 10, 100, 100, 100
WAIT

MOVE G6A, 80, 155, 85, 150, 150, 100
MOVE G6D, 80, 155, 85, 150, 150, 100
MOVE G6B,185, 40, 60, 100, 100, 100
MOVE G6C,185, 40, 60, 100, 100, 100
WAIT

MOVE G6A, 75, 165, 55, 165, 155, 100
MOVE G6D, 75, 165, 55, 165, 155, 100
MOVE G6B,185, 10, 100, 100, 100, 100
MOVE G6C,185, 10, 100, 100, 100, 100
WAIT

MOVE G6A, 60, 165, 30, 165, 155, 100
MOVE G6D, 60, 165, 30, 165, 155, 100
MOVE G6B,170, 10, 100, 100, 100, 100
MOVE G6C,170, 10, 100, 100, 100, 100
WAIT

MOVE G6A, 60, 165, 25, 160, 145, 100
MOVE G6D, 60, 165, 25, 160, 145, 100
MOVE G6B,150, 60, 90, 100, 100, 100
MOVE G6C,150, 60, 90, 100, 100, 100
WAIT

MOVE G6A,100, 155, 25, 140, 100, 100
MOVE G6D,100, 155, 25, 140, 100, 100
MOVE G6B,130, 50, 85, 100, 100, 100
MOVE G6C,130, 50, 85, 100, 100, 100
WAIT

RETURN
'================================================

' action_31
'== backward standup ============================
DIM A AS BYTE
DIM A16 AS BYTE

PTP SETON
PTP ALLON

'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0
DIR G6B,1,1,1,1,1,1
DIR G6C,0,0,0,0,0,0
DIR G6D,0,1,1,0,1,0

'== motor start position read ===================
GETMOTORSET G6A,1,1,1,1,1,0
GETMOTORSET G6B,1,1,1,0,0,0
GETMOTORSET G6C,1,1,1,0,0,0
GETMOTORSET G6D,1,1,1,1,1,0

SPEED 5

'== motor power on =============================
MOTOR G24

GOSUB standard_pose

'================================================
MAIN:

A = REMOCON(1)
IF A <> 19 THEN GOTO main

GOSUB backward_standup
GOSUB standard_pose
GOTO MAIN

'================================================
standard_pose:
MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
MOVE G6B,100, 30, 80, 100, 100, 100
MOVE G6C,100, 30, 80, 100, 100, 100
WAIT
RETURN
'================================================


backward_standup:

SPEED 10

MOVE G6A,100, 10, 100, 115, 100, 100
MOVE G6D,100, 10, 100, 115, 100, 100
MOVE G6B,100, 130, 10, 100, 100, 100
MOVE G6C,100, 130, 10, 100, 100, 100
WAIT

MOVE G6A,100, 10, 83, 140, 100, 100
MOVE G6D,100, 10, 83, 140, 100, 100
MOVE G6B,20, 130, 10, 100, 100, 100
MOVE G6C,20, 130, 10, 100, 100, 100
WAIT

MOVE G6A,100, 126, 60, 50, 100, 100
MOVE G6D,100, 126, 60, 50, 100, 100
MOVE G6B,20, 30, 90, 100, 100, 100
MOVE G6C,20, 30, 90, 100, 100, 100
WAIT

MOVE G6A,100, 165, 70, 15, 100, 100
MOVE G6D,100, 165, 70, 15, 100, 100
MOVE G6B, 30, 20, 95,100, 100, 100
MOVE G6C, 30, 20, 95,100, 100, 100
WAIT

MOVE G6A,100, 165, 40, 100, 100, 100
MOVE G6D,100, 165, 40, 100, 100, 100
MOVE G6B,110, 70, 50, 100, 100, 100
MOVE G6C,110, 70, 50, 100, 100, 100
WAIT

RETURN
'================================================

Statistics: Posted by ozfiddler — Mon Feb 07, 2011 11:47 pm

]]> 2011-02-07T16:42:43+01:00 2011-02-07T16:42:43+01:00 http://forum.robosavvy.com/viewtopic.php?t=6982&p=30101#p30101 <![CDATA[Code that makes RoboNova stand up when he falls down?]]>
I have a RoboNova that is loaded with some default code which makes him stand up when he falls down. However, the code templates I have dont seem to include this move, so when I reprogram him, he wont do that action any more. Can anyone post or tell me where the standard template code for the tilt-equipped RoboNova is please?

Thanks,

Reuben

Statistics: Posted by reubenwilcock — Mon Feb 07, 2011 4:42 pm

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