extra walking steps?

[tinman1]

Okay, I have spent the last hour staring at the walking code and I have a question. Could I simply add a second "GOSUB forward_walk" to make the RN-1 take four steps instead of the default two steps when the forward arrow key is pressed?
GOSUB forward_walk
GOSUB forward_walk
GOSUB standard_pose
GOTO main_exit
Would this work by executing the subroutine twice in succession? Or am I totally out in left field?
Tinman

[tinman1]

Well, I answered my own question.
Yes. It executes the subroutine twice making the bot take a total of four steps. However there is a hesitation between the two subs executing instead of one continuous gait. Hmmmm....
How to get rid of the pause?
Hey this IS fun!
tinman

[DirtyRoboto]

A FOR/NEXT loop should do the trick.


DIM Y AS BYTE
FOR Y = 1 to 4

[forward walk code]


NEXT Y

[engineer]

or search the forum for long walk_pushup

[Pev]

Below is a slightly modified walk that details how you can get rid of the pause . Basically everything before the FWD_CONT: starts the walk from standing still.
Once you get to comment 'Loop to FWD_CONT to continue walking you either loop to FWD_CONT to walk 2 more steps with no hestitation or continue to stop walking and return to a stable standing positon.

The loop could be a for next as suggested above or could be due to some sort of controller input. I use a varient of this with my bluetooth controller for continual walking.

Hope this helps

Pev


forward_walk:

SPEED 5
MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60,

SPEED 14
'left up
MOVE24 90, 107, 105, 105, 114, 60, 90, 40, 80, , , , 100, 40, 80, , , , 114, 76, 145, 93, 90, 60,

FWD_CONT:

'---------------------------------------
'left down
MOVE24 90, 56, 143, 122, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 113, 80, 145, 90, 90, 60,
MOVE24 90, 46, 163, 112, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 112, 80, 145, 90, 90, 60,

SPEED 10
'left center
MOVE24 100, 66, 141, 113, 100, 100, 90, 40, 80, , , , 100, 40, 80, , , , 100, 83, 156, 80, 100, 100,
MOVE24 113, 78, 142, 105, 90, 60, 100, 40, 80, , , , 100, 40, 80, , , , 90, 102, 136, 85, 114, 60,

SPEED 14
'right up
MOVE24 113, 76, 145, 93, 90, 60, 100, 40, 80, , , , 90, 40, 80, , , , 90, 107, 105, 105, 114, 60,

'right down
MOVE24 113, 80, 145, 90, 90, 60, 105, 40, 80, , , , 80, 40, 80, , , , 90, 56, 143, 122, 114, 60,
MOVE24 112, 80, 145, 90, 90, 60, 105, 40, 80, , , , 80, 40, 80, , , , 90, 46, 163, 112, 114, 60,

SPEED 10
'right center
MOVE24 100, 83, 156, 80, 100, 100, 100, 40, 80, , , , 90, 40, 80, , , , 100, 66, 141, 113, 100, 100,
MOVE24 90, 102, 136, 85, 114, 60, 100, 40, 80, , , , 100, 40, 80, , , , 113, 78, 142, 105, 90, 60,

SPEED 14
'left up
MOVE24 90, 107, 105, 105, 114, 60, 90, 40, 80, , , , 100, 40, 80, , , , 113, 76, 145, 93, 90, 60,
'---------------------------------------

'Loop to FWD_CONT to continue walking

SPEED 5
MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60,

SPEED 5
MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60,

RETURN

[tinman1]

Thanks guys!
I'm going to have alot to play with now. To me the whole walking aspect of this bot is the most interesting, unfortunately the last time I wrote any code was when Reagan first took office!
But this is a great way to get back into it.
Tinman