Kung Fu Code

[Chrisbie]

Can someone please just post the template BAS file for KUNG FU code. I myself having problem with the code. Would really appreciate if someobody will post the complete code (BAS FILE) and share and of course with Matt's approval...

Thanks a lot guys...

[Chrisbie]

HI I HAVE THIS MARTIAL ARTS PROGRAM AND EVERYTIME I RUN IT, SOME OF THE MOVES MAKES MY ROBONOVA FALL DOWN. KINDLY PLEASE CHECK WHAT IS WRONG WITH THE PROGRAM.

THANKS,

CHRIS






'================================================
' templet program
'
' RR : internal parameter variable / ROBOREMOCON / Action command
' A : temporary variable / REMOCON
' A16,A26 : temporary variable
'
'== auto_main ===================================
GOTO AUTO
FILL 255, 10000

DIM RR AS BYTE
DIM A AS BYTE
DIM A16 AS BYTE
DIM A26 AS BYTE

CONST ID = 0 ' 1:0, 2:32, 3:64, 4:96,

'== Action command check (50 - 82)
IF RR > 50 AND RR < 83 THEN GOTO action_proc

RR = 0

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 ===================
TEMPO 230
MUSIC "CDE"
GETMOTORSET G24, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0
'== motor power on =============================
SPEED 5
MOTOR G24
GOSUB standard_pose
'================================================
MAIN:
GOSUB robot_voltage
'GOSUB robot_tilt

'-----------------------------
IF RR = 0 THEN GOTO MAIN1

ON RR GOTO MAIN, k1, k2, k3, k4, k5, k6, k7, k8, k9, k10, k11, k12, k13, k14, k15, k16, k17, k18, k19, k20, k21, k22, k23, k24, k25, k26, k27, k28, k29, k30, k31, k32
GOTO main_exit
'-----------------------------
MAIN1:
A = REMOCON(1)
A = A - ID
ON A GOTO MAIN, k1, k2, k3, k4, k5, k6, k7, k8, k9, k10, k11, k12, k13, k14, k15, k16, k17, k18, k19, k20, k21, k22, k23, k24, k25, k26, k27, k28, k29, k30, k31, k32
GOTO MAIN
'-------------------------------------------------
action_proc:
A = RR - 50
ON A GOTO MAIN, k1, k2, k3, k4, k5, k6, k7, k8, k9, k10, k11, k12, k13, k14, k15, k16, k17, k18, k19, k20, k21, k22, k23, k24, k25, k26, k27, k28, k29, k30, k31, k32
RETURN
'-----------------------------
main_exit:
IF RR > 50 THEN RETURN
RR = 0
GOTO MAIN
'================================================
k1:
GOSUB martial_arts_pose
GOTO main_exit
k2:
GOSUB martial_arts_pose2
GOTO main_exit
k3:
GOSUB martial_arts_pose3
GOTO main_exit
k4:
GOSUB martial_arts_pose4
GOTO main_exit
k5:
GOSUB martial_arts_pose5
GOTO main_exit
'you can make the entire Martial Arts rouitne play sequentially by removing (or comment out (ie. '))the "GOTO main_exit" lines at the end of each "K1" - "K4" code segment.
k6:
GOSUB body_move
GOSUB standard_pose
GOTO main_exit
k7:
GOSUB wing_move
GOSUB standard_pose
GOTO main_exit
k8:
GOSUB right_shoot
GOSUB standard_pose
DELAY 500
GOSUB left_shoot
GOSUB standard_pose
DELAY 500
GOTO main_exit
k9:
SPEED 8
GOSUB handstanding
DELAY 1000
SPEED 6
GOSUB standard_pose
GOTO main_exit
k10:
GOSUB fast_walk
GOSUB standard_pose
GOTO main_exit
k11: ' ^ 1
GOSUB forward_walk
GOSUB standard_pose
GOTO main_exit
k12: ' _ 1
GOSUB backward_walk
GOSUB standard_pose
GOTO main_exit
k13: ' > 1
SPEED 8
GOSUB right_shift
SPEED 6
GOSUB standard_pose
GOTO main_exit
k14: ' < 1
SPEED 8
GOSUB left_shift
SPEED 6
GOSUB standard_pose
GOTO main_exit
k15: ' A
GOSUB left_attack
GOSUB standard_pose
GOTO main_exit
k16:
GOSUB sit_down_pose16
GOTO main_exit

k17: ' C
GOSUB left_forward
GOSUB standard_pose
GOTO main_exit
k18: ' E
TEMPO 230
MUSIC "C"
GOTO main_exit
k19: ' P2
GOSUB backward_standup
GOSUB standard_pose
GOTO main_exit
k20: ' B
GOSUB right_attack
GOSUB standard_pose
GOTO main_exit
k21: ' ^ 2
GOSUB forward_tumbling
GOSUB standard_pose
GOTO main_exit
k22: ' *
GOSUB left_turn
GOSUB standard_pose
GOTO main_exit
k23: ' F
TEMPO 230
MUSIC "D"
GOTO main_exit
k24: ' #
GOSUB right_turn
GOSUB standard_pose
GOTO main_exit
k25: ' P1
GOSUB forward_standup
GOSUB standard_pose
GOTO main_exit
k26: ' [] 1
GOSUB sit_down_pose26
GOTO main_exit
k27: ' D
GOSUB right_forward
GOSUB standard_pose
GOTO main_exit
k28: ' < 2
GOSUB left_tumbling
SPEED 10
GOSUB standard_pose
GOTO main_exit
k29: ' [] 2
GOSUB forward_punch
SPEED 10
GOSUB standard_pose
GOTO main_exit
k30: ' > 2
GOSUB righ_tumbling
SPEED 10
GOSUB standard_pose
GOTO main_exit
k31: ' _ 2
GOSUB back_tumbling
SPEED 10
GOSUB standard_pose
GOTO main_exit
k32: ' G
TEMPO 230
MUSIC "E"
GOTO main_exit
'================================================
robot_voltage: ' [ 10 x Value / 256 = Voltage]
DIM v AS BYTE

A = AD(6)

IF A < 84 THEN ' 5.8v

FOR v = 0 TO 2
OUT 52, 1
DELAY 200
OUT 52, 0
DELAY 200
NEXT v

RETURN
'================================================
robot_tilt:
A = AD(5)
IF A > 250 THEN RETURN

IF A < 30 THEN GOTO tilt_low
IF A > 200 THEN GOTO tilt_high

RETURN
tilt_low:
A = AD(5)
'IF A < 30 THEN GOTO forward_standup
IF A < 30 THEN GOTO backward_standup
RETURN
tilt_high:
A = AD(5)
'IF A > 200 THEN GOTO backward_standup
IF A > 200 THEN GOTO forward_standup
RETURN
'======================= =========================
sit_down_pose16:
IF A16 = 0 THEN GOTO standard_pose16
A16 = 0
SPEED 10
MOVE G6A, 100, 151, 23, 140, 101, 100
MOVE G6D, 100, 151, 23, 140, 101, 100
MOVE G6B, 100, 30, 80, 100, 100, 100
MOVE G6C, 100, 30, 80, 100, 100, 100
WAIT
'== motor power off ============================
MOTOROFF G24
TEMPO 230
MUSIC "FEDC"
RETURN
'================================================
standard_pose16:
TEMPO 230
MUSIC "CDE"
GETMOTORSET G24, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0
'== motor power on =============================
MOTOR G24
A16 = 1
'================================================
SPEED 10
GOSUB standard_pose
RETURN
'================================================
'================================================
bow_pose:
MOVE G6A, 100, 58, 135, 160, 100, 100
MOVE G6D, 100, 58, 135, 160, 100, 100
MOVE G6B, 100, 30, 80, , , ,
MOVE G6C, 100, 30, 80, , , ,
WAIT
DELAY 1000
RETURN
'================================================
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
'================================================
'================================================
hans_up:
SPEED 5
MOVE G6A, 100, 76, 145, 93, 100
MOVE G6D, 100, 76, 145, 93, 100
MOVE G6B, 100, 168, 150
MOVE G6C, 100, 168, 150
WAIT
RETURN
'================================================
'================================================
sit_down_pose:
SPEED 10
MOVE G6A, 100, 151, 23, 140, 101, 100
MOVE G6D, 100, 151, 23, 140, 101, 100
MOVE G6B, 100, 30, 80, 100, 100, 100
MOVE G6C, 100, 30, 80, 100, 100, 100
WAIT
RETURN
'========== ======================================
'================================================
sit_hans_up:
SPEED 10
MOVE G6A, 100, 151, 23, 140, 101, 100,
MOVE G6D, 100, 151, 23, 140, 101, 100
MOVE G6B, 100, 168, 150
MOVE G6C, 100, 168, 150
WAIT
RETURN
'================================================
'================================================
foot_up:
SPEED 5
MOVE G6A, 85, 71, 152, 91, 112, 60,
MOVE G6D, 112, 76, 145, 93, 92, 60,
MOVE G6B, 100, 40, 80, , , ,
MOVE G6C, 100, 40, 80, , , ,
WAIT
MOVE G6A, 90, 98, 105, 115, 115, 60,
MOVE G6D, 116, 74, 145, 98, 93, 60,
MOVE G6B, 100, 95, 100, 100, 100, 100,
MOVE G6C, 100, 105, 100, 100, 100, 100,
WAIT
MOVE G6A, 100, 151, 23, 140, 115, 100,
WAIT
DELAY 1000
MOVE G6A, 85, 71, 152, 91, 112, 60,
MOVE G6D, 112, 76, 145, 93, 92, 60,
WAIT
RETURN
'================================================
'================================================
body_move:
SPEED 6
GOSUB body_move1
GOSUB body_move2
GOSUB body_move3
MOVE G6A, 93, 76, 145, 94, 109, 100
MOVE G6D, 93, 76, 145, 94, 109, 100
MOVE G6B, 100, 105, 100, , , ,
MOVE G6C, 100, 105, 100, , , ,
WAIT
MOVE G6A, 104, 112, 92, 116, 107
MOVE G6D, 79, 81, 145, 95, 108
MOVE G6B, 100, 105, 100
MOVE G6C, 100, 105, 100
WAIT
MOVE G6A, 93, 76, 145, 94, 109, 100
MOVE G6D, 93, 76, 145, 94, 109, 100
MOVE G6B, 100, 105, 100, , , ,
MOVE G6C, 100, 105, 100, , , ,
WAIT
MOVE G6D, 104, 112, 92, 116, 107
MOVE G6A, 79, 81, 145, 95, 108
MOVE G6B, 100, 105, 100
MOVE G6C, 100, 105, 100
WAIT
MOVE G6A, 93, 76, 145, 94, 109, 100
MOVE G6D, 93, 76, 145, 94, 109, 100
MOVE G6B, 100, 105, 100, , , ,
MOVE G6C, 100, 105, 100, , , ,
WAIT
GOSUB body_move3
GOSUB body_move2
GOSUB body_move1
RETURN
'================================================
body_move3:
MOVE G6A, 93, 76, 145, 94, 109, 100
MOVE G6D, 93, 76, 145, 94, 109, 100
MOVE G6B,100, 35, 90, , , ,
MOVE G6C,100, 35, 90, , , ,
WAIT
RETURN
'================================================
body_move2:
MOVE G6D, 110, 92, 124, 97, 93, 70
MOVE G6A, 76, 72, 160, 82, 128, 70
MOVE G6B,100, 35, 90, , , ,
MOVE G6C,100, 35, 90, , , ,
WAIT
RETURN
'================================================
body_move1:
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D, 112, 76, 145, 93, 92, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
wing_move:
DIM i AS BYTE
SPEED 5

MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D, 112, 76, 145, 93, 92, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT

MOVE G6A, 90, 98, 105, 115, 115, 60
MOVE G6D, 116, 74, 145, 98, 93, 60
MOVE G6B, 100, 150, 150, 100, 100, 100
MOVE G6C, 100, 150, 150, 100, 100, 100
WAIT

MOVE G6A, 90, 121, 36, 105, 115, 60
MOVE G6D, 116, 60, 146, 138, 93, 60
MOVE G6B, 100, 150, 150, 100, 100, 100
MOVE G6C, 100, 150, 150, 100, 100, 100
WAIT

MOVE G6A, 90, 98, 105, 64, 115, 60
MOVE G6D, 116, 50, 160, 160, 93, 60
MOVE G6B, 145, 110, 110, 100, 100, 100
MOVE G6C, 145, 110, 110, 100, 100, 100
WAIT

FOR i = 10 TO 15
SPEED i
MOVE G6B, 145, 80, 80, 100, 100, 100
MOVE G6C, 145, 80, 80, 100, 100, 100
WAIT

MOVE G6B, 145, 120, 120, 100, 100, 100
MOVE G6C, 145, 120, 120, 100, 100, 100
WAIT
NEXT i

DELAY 1000
SPEED 6

MOVE G6A, 90, 98, 105, 64, 115, 60
MOVE G6D, 116, 50, 160, 160, 93, 60
MOVE G6B, 100, 160, 180, 100, 100, 100
MOVE G6C, 100, 160, 180, 100, 100, 100
WAIT

MOVE G6A, 90, 121, 36, 105, 115, 60
MOVE G6D, 116, 60, 146, 138, 93, 60
MOVE G6B, 100, 150, 150, 100, 100, 100
MOVE G6C, 100, 150, 150, 100, 100, 100
WAIT
SPEED 4

MOVE G6A, 90, 98, 105, 115, 115, 60
MOVE G6D, 116, 74, 145, 98, 93, 60
WAIT

MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D, 112, 76, 145, 93, 92, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
right_shoot:
SPEED 4
MOVE G6A, 112, 56, 180, 79, 104, 100
MOVE G6D, 70, 56, 180, 79, 102, 100
MOVE G6B, 110, 45, 70, 100, 100, 100
MOVE G6C, 90, 45, 70, 100, 100, 100
WAIT
right_shoot1:
SPEED 6
MOVE G6A, 115, 60, 180, 79, 95, 100
MOVE G6D, 90, 90, 127, 65, 116, 100
MOVE G6B, 80, 45, 70, 100, 100, 100
MOVE G6C, 120, 45, 70, 100, 100, 100
WAIT
SPEED 15
HIGHSPEED SETON
right_shoot2:
MOVE G6A, 115, 52, 180, 79, 95, 100
MOVE G6D, 90, 90, 127, 147, 116, 100
MOVE G6B, 140, 45, 70, 100, 100, 100
MOVE G6C, 60, 45, 70, 100, 100, 100
WAIT
DELAY 500
HIGHSPEED SETOFF
right_shoot3:
SPEED 5
MOVE G6A, 115, 76, 145, 93, 102, 100
MOVE G6D, 70, 76, 145, 93, 104, 100
MOVE G6B, 110, 45, 70, 100, 100, 100
MOVE G6C, 90, 45, 70, 100, 100, 100
WAIT
RETURN
'=============================================== =
left_shoot:
SPEED 4
MOVE G6A, 70, 56, 180, 79, 102, 100
MOVE G6D, 112, 56, 180, 79, 104, 100
MOVE G6B, 90, 45, 70, 100, 100, 100
MOVE G6C, 110, 45, 70, 100, 100, 100
WAIT
left_shoot1:
SPEED 6
MOVE G6A, 90, 90, 127, 65, 116, 100
MOVE G6D, 115, 60, 180, 79, 95, 100
MOVE G6B, 140, 45, 70, 100, 100, 100
MOVE G6C, 60, 45, 70, 100, 100, 100
WAIT
SPEED 15
HIGHSPEED SETON
left_shoot2:
MOVE G6A, 90, 90, 127, 147, 116, 100
MOVE G6D, 115, 52, 180, 79, 95, 100
MOVE G6B, 60, 45, 70, 100, 100, 100
MOVE G6C, 140, 45, 70, 100, 100, 100
WAIT
DELAY 500
HIGHSPEED SETOFF
left_shoot3:
SPEED 5
MOVE G6A, 70, 76, 145, 93, 104, 100
MOVE G6D, 115, 76, 145, 93, 102, 100
MOVE G6B, 90, 45, 70, 100, 100, 100
MOVE G6C, 110, 45, 70, 100, 100, 100
WAIT
RETURN
'================================================
'================================================
handstanding:
GOSUB fall_forward
GOSUB standard_pose
GOSUB foot_up2
GOSUB standard_pose
GOSUB back_stand_up
RETURN
'================================================
fall_forward:
SPEED 10
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
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, 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
SPEED 3
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
SPEED 10
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, 100, 130, 120, 80, 110, 100
MOVE G6D, 100, 130, 120, 80, 110, 100
MOVE G6B, 125, 160, 10, 100, 100, 100
MOVE G6C, 125, 160, 10, 100, 100, 100
WAIT
RETURN
'================================================
foot_up2:
SPEED 6
MOVE G6A, 100, 125, 65, 10, 100, ,
MOVE G6D, 100, 125, 65, 10, 100, ,
MOVE G6B, 110, 30, 80, , , ,
MOVE G6C, 110, 30, 80, , , ,
SPEED 3
MOVE G6A, 100, 125, 65, 10, 100, ,
MOVE G6D, 100, 125, 65, 10, 100, ,
MOVE G6B, 170, 30, 80, , , ,
MOVE G6C, 170, 30, 80, , , ,
WAIT
DELAY 200
SPEED 6
MOVE G6A, 100, 89, 129, 57, 100, ,
MOVE G6D, 100, 89, 129, 57, 100, ,
MOVE G6B, 180, 30, 80, , , ,
MOVE G6C, 180, 30, 80, , , ,
WAIT
MOVE G6A, 100, 64, 179, 57, 100, ,
MOVE G6D, 100, 64, 179, 57, 100, ,
MOVE G6B, 190, 50, 80, , , ,
MOVE G6C, 190, 50, 80, , , ,
WAIT
DELAY 2000
MOVE G6A, 100, 64, 179, 57, 100, ,
MOVE G6D, 100, 64, 179, 57, 100, ,
MOVE G6B, 190, 50, 80, , , ,
MOVE G6C, 190, 50, 80, , , ,
WAIT
MOVE G6A, 100, 89, 129, 57, 100, ,
MOVE G6D, 100, 89, 129, 57, 100, ,
MOVE G6B, 180, 30, 80, , , ,
MOVE G6C, 180, 30, 80, , , ,
WAIT
SPEED 3
MOVE G6A, 100, 125, 65, 10, 100, ,
MOVE G6D, 100, 125, 65, 10, 100, ,
MOVE G6B, 170, 30, 80, , , ,
MOVE G6C, 170, 30, 80, , , ,
WAIT
SPEED 6
MOVE G6A, 100, 125, 65, 10, 100, ,
MOVE G6D, 100, 125, 65, 10, 100, ,
MOVE G6B, 110, 30, 80, , , ,
MOVE G6C, 110, 30, 80, , , ,
WAIT
RETURN
'================================================
back_stand_up:
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
'================================================
'================================================
fast_walk:
DIM A10 AS BYTE
SPEED 10
MOVE G6B, 100, 30, 90, 100, 100, 100
MOVE G6C, 100, 30, 90, 100, 100, 100
WAIT
SPEED 7
fast_run01:
MOVE G6A, 90, 72, 148, 93, 110, 70
MOVE G6D, 108, 75, 145, 93, 95, 70
WAIT
SPEED 15
fast_run02:
MOVE G6A, 90, 95, 105, 115, 110, 70
MOVE G6D, 112, 75, 145, 93, 95, 70
MOVE G6B, 90, 30, 90, 100, 100, 100
MOVE G6C, 110, 30, 90, 100, 100, 100
WAIT
SPEED 15
'---------------------------- 4 times
FOR A10 = 1 TO 4

fast_run20:
MOVE G6A, 100, 80, 119, 118, 106, 100
MOVE G6D, 105, 75, 145, 93, 100, 100
MOVE G6B, 80, 30, 90, 100, 100, 100
MOVE G6C, 120, 30, 90, 100, 100, 100
fast_run21:
MOVE G6A, 105, 74, 140, 106, 100, 100
MOVE G6D, 95, 105, 124, 93, 106, 100
MOVE G6B, 100, 30, 90, 100, 100, 100
MOVE G6C, 100, 30, 90, 100, 100, 100
fast_run22:
MOVE G6D, 100, 80, 119, 118, 106, 100
MOVE G6A, 105, 75, 145, 93, 100, 100
MOVE G6C, 80, 30, 90, 100, 100, 100
MOVE G6B, 120, 30, 90, 100, 100, 100
fast_run23:
MOVE G6D, 105, 74, 140, 106, 100, 100
MOVE G6A, 95, 105, 124, 93, 106, 100
MOVE G6C, 100, 30, 90, 100, 100, 100
MOVE G6B, 100, 30, 90, 100, 100, 100

NEXT A10
'------------------------------
SPEED 8
MOVE G6A, 85, 80, 130, 95, 106, 100
MOVE G6D, 108, 73, 145, 93, 100, 100
MOVE G6B, 80, 30, 90, 100, 100, 100
MOVE G6C, 120, 30, 90, 100, 100, 100
WAIT
fast_run03:
MOVE G6A, 90, 72, 148, 93, 110, 70
MOVE G6D, 108, 75, 145, 93, 93, 70
WAIT
SPEED 5

RETURN
'================================================
'================================================
left_turn:
SPEED 6
MOVE G6D, 85, 71, 152, 91, 112, 60
MOVE G6A, 112, 76, 145, 93, 92, 60
MOVE G6C, 100, 40, 80, , , ,
MOVE G6B, 100, 40, 80, , , ,
WAIT

SPEED 9
MOVE G6A, 113, 75, 145, 97, 93, 60
MOVE G6D, 90, 50, 157, 115, 112, 60
MOVE G6B, 105, 40, 70, , , ,
MOVE G6C, 90, 40, 70, , , ,
WAIT

MOVE G6A, 108, 78, 145, 98, 93, 60
MOVE G6D, 95, 43, 169, 110, 110, 60
MOVE G6B, 105, 40, 70, , , ,
MOVE G6C, 80, 40, 70, , , ,
WAIT
RETURN
'================================================
'================================================
right_turn:
SPEED 6
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D, 112, 76, 145, 93, 92, 60
MOVE G6B, 100, 40, 80, , , ,
MOVE G6C, 100, 40, 80, , , ,
WAIT

SPEED 9
MOVE G6D, 113, 75, 145, 97, 93, 60
MOVE G6A, 90, 50, 157, 115, 112, 60
MOVE G6C, 105, 40, 70, , , ,
MOVE G6B, 90, 40, 70, , , ,
WAIT

MOVE G6D, 108, 78, 145, 98, 93, 60
MOVE G6A, 95, 43, 169, 110, 110, 60
MOVE G6C, 105, 40, 70, , , ,
MOVE G6B, 80, 40, 70, , , ,
WAIT
RETURN
'================================================
'================================================
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,
'---------------------------------------
'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,
'---------------------------------------

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

RETURN
'================================================
'================================================
left_shift:

SPEED 5
GOSUB left_shift1
SPEED 9
GOSUB left_shift2

GOSUB left_shift3
GOSUB left_shift4

SPEED 9
GOSUB left_shift5
GOSUB left_shift6

RETURN
'================================================
left_shift1:
MOVE G6A, 85, 71, 152, 91, 112, 60,
MOVE G6D, 112, 76, 145, 93, 92, 60,
MOVE G6B, 100, 40, 80, , , ,
MOVE G6C, 100, 40, 80, , , ,
WAIT
RETURN
'---------------------------
left_shift2:
MOVE G6D, 110, 92, 124, 97, 93, 70,
MOVE G6A, 76, 72, 160, 82, 128, 70,
MOVE G6B, 100, 35, 90, , , ,
MOVE G6C, 100, 35, 90, , , ,
WAIT
RETURN
'---------------------------
left_shift3:
MOVE G6A, 93, 76, 145, 94, 109, 100,
MOVE G6D, 93, 76, 145, 94, 109, 100,
MOVE G6B, 100, 35, 90, , , ,
MOVE G6C, 100, 35, 90, , , ,
WAIT
RETURN
'---------------------------
left_shift4:
MOVE G6A, 110, 92, 124, 97, 93, 70,
MOVE G6D, 76, 72, 160, 82, 128, 70,
MOVE G6B, 100, 35, 90, , , ,
MOVE G6C, 100, 35, 90, , , ,
WAIT
RETURN
'---------------------------
left_shift5:
MOVE G6D, 86, 83, 135, 97, 114, 60,
MOVE G6A, 113, 78, 145, 93, 93, 60,
MOVE G6C, 90, 40, 80, , , ,
MOVE G6B, 100, 40, 80, , , ,
WAIT
RETURN
' ---------------------------
left_shift6:
MOVE G6D, 85, 71, 152, 91, 112, 60,
MOVE G6A, 112, 76, 145, 93, 92, 60,
MOVE G6C, 100, 40, 80, , , ,
MOVE G6B, 100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
sit_down_pose26:
IF A26 = 0 THEN GOTO standard_pose26

A26 = 0
SPEED 10
MOVE G6A, 100, 151, 23, 140, 101, 100
MOVE G6D, 100, 151, 23, 140, 101, 100
MOVE G6B, 100, 30, 80, 100, 100, 100
MOVE G6C, 100, 30, 80, 100, 100, 100
WAIT

RETURN
'================================================
standard_pose26:
A26 = 1
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
'================================================
'================================================
right_shift:

SPEED 5
GOSUB right_shift1

SPEED 9
GOSUB right_shift2

GOSUB right_shift3

GOSUB right_shift4

SPEED 9
GOSUB right_shift5
GOSUB right_shift6

RETURN
'================================================
right_shift1:
MOVE G6D, 85, 71, 152, 91, 112, 60
MOVE G6A, 112, 76, 145, 93, 92, 60
MOVE G6C, 100, 40, 80, , , ,
MOVE G6B, 100, 40, 80, , , ,
WAIT
RETURN

right_shift2:
MOVE G6A, 110, 92, 124, 97, 93, 70
MOVE G6D, 76, 72, 160, 82, 128, 70
MOVE G6B,100, 35, 90, , , ,
MOVE G6C,100, 35, 90, , , ,
WAIT
RETURN

right_shift3:
MOVE G6A, 93, 76, 145, 94, 109, 100
MOVE G6D, 93, 76, 145, 94, 109, 100
MOVE G6B,100, 35, 90, , , ,
MOVE G6C,100, 35, 90, , , ,
WAIT
RETURN

right_shift4:
MOVE G6D, 110, 92, 124, 97, 93, 70
MOVE G6A, 76, 72, 160, 82, 128, 70
MOVE G6B,100, 35, 90, , , ,
MOVE G6C,100, 35, 90, , , ,
WAIT
RETURN

right_shift5:
MOVE G6A, 86, 83, 135, 97, 114, 60
MOVE G6D, 113, 78, 145, 93, 93, 60
MOVE G6B, 90, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

right_shift6:
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D, 112, 76, 145, 93, 92, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
backward_walk:

SPEED 5
GOSUB backward_walk1

SPEED 13
GOSUB backward_walk2

SPEED 7
GOSUB backward_walk3
GOSUB backward_walk4
GOSUB backward_walk5

SPEED 13
GOSUB backward_walk6

SPEED 7
GOSUB backward_walk7
GOSUB backward_walk8
GOSUB backward_walk9

SPEED 13
GOSUB backward_walk2

SPEED 5
GOSUB backward_walk1

RETURN
'================================================
backward_walk1:
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D, 112, 76, 145, 93, 92, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk2:
MOVE G6A, 90, 107, 105, 105, 114, 60
MOVE G6D, 113, 78, 145, 93, 90, 60
MOVE G6B, 90, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk9:
MOVE G6A, 90, 56, 143, 122, 114, 60
MOVE G6D, 113, 80, 145, 90, 90, 60
MOVE G6B, 80, 40, 80, , , ,
MOVE G6C,105, 40, 80, , , ,
WAIT
RETURN

backward_walk8:
MOVE G6A, 100, 62, 146, 108, 100, 100
MOVE G6D, 100, 88, 140, 86, 100, 100
MOVE G6B, 90, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk7:
MOVE G6A, 113, 76, 142, 105, 90, 60
MOVE G6D, 90, 96, 136, 85, 114, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk6:
MOVE G6D, 90, 107, 105, 105, 114, 60
MOVE G6A, 113, 78, 145, 93, 90, 60
MOVE G6C,90, 40, 80, , , ,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN

backward_walk5:
MOVE G6D, 90, 56, 143, 122, 114, 60
MOVE G6A, 113, 80, 145, 90, 90, 60
MOVE G6C,80, 40, 80, , , ,
MOVE G6B,105, 40, 80, , , ,
WAIT
RETURN

backward_walk4:
MOVE G6D, 100, 62, 146, 108, 100, 100
MOVE G6A, 100, 88, 140, 86, 100, 100
MOVE G6C,90, 40, 80, , ,,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN

backward_walk3:
MOVE G6D, 113, 76, 142, 105, 90, 60
MOVE G6A, 90, 96, 136, 85, 114, 60
MOVE G6C,100, 40, 80, , , ,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
forward_tumbling:

SPEED 8
GOSUB standard_pose
MOVE G6A, 100, 155, 20, 140, 100, 100
MOVE G6D, 100, 155, 20, 140, 100, 100
MOVE G6B, 130, 50, 85, 100, 100, 100
MOVE G6C, 130, 50, 85, 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, 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, 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, 100, 130, 120, 80, 110, 100
MOVE G6D, 100, 130, 120, 80, 110, 100
MOVE G6B, 130, 160, 10, 100, 100, 100
MOVE G6C, 130, 160, 10, 100, 100, 100
WAIT

MOVE G6A, 100, 160, 110, 140, 100, 100
MOVE G6D, 100, 160, 110, 140, 100, 100
MOVE G6B, 140, 70, 20, 100, 100, 100
MOVE G6C, 140, 70, 20, 100, 100, 100
WAIT

SPEED 15
MOVE G6A, 100, 56, 110, 26, 100, 100
MOVE G6D, 100, 71, 177, 162, 100, 100
MOVE G6B, 170, 40, 50, 100, 100, 100
MOVE G6C, 170, 40, 50, 100, 100, 100
WAIT

MOVE G6A, 100, 62, 110, 15, 100, 100
MOVE G6D, 100, 71, 128, 113, 100, 100
MOVE G6B, 190, 40, 50, 100, 100, 100
MOVE G6C, 190, 40, 50, 100, 100, 100
WAIT

SPEED 15
MOVE G6A, 100, 55, 110, 15, 100, 100
MOVE G6D, 100, 55, 110, 15, 100, 100
MOVE G6B, 190, 40, 50, 100, 100, 100
MOVE G6C, 190, 40, 50, 100, 100, 100
WAIT

SPEED 10

MOVE G6A, 100, 110, 100, 15, 100, 100
MOVE G6D, 100, 110, 100, 15, 100, 100
MOVE G6B, 170, 160, 115, 100, 100, 100
MOVE G6C, 170, 160, 115, 100, 100, 100
WAIT

MOVE G6A, 100, 170, 70, 15, 100, 100
MOVE G6D, 100, 170, 70, 15, 100, 100
MOVE G6B, 190, 170, 120, 100, 100, 100
MOVE G6C, 190, 170, 120, 100, 100, 100
WAIT

MOVE G6A, 100, 170, 30, 110, 100, 100
MOVE G6D, 100, 170, 30, 110, 100, 100
MOVE G6B, 190, 40, 60, 100, 100, 100
MOVE G6C, 190, 40, 60, 100, 100, 100
WAIT

GOSUB sit_pose
GOSUB standard_pose
RETURN
'================================================
sit_pose:

SPEED 10
MOVE G6A,100, 151, 23, 140, 101, 100,
MOVE G6D,100, 151, 23, 140, 101, 100,
MOVE G6B,100, 30, 80, 100, 100, 100,
MOVE G6C,100, 30, 80, 100, 100, 100,
WAIT
RETURN
'================================================
'================================================
left_tumbling:

SPEED 8
MOVE G6A, 100, 135, 60, 123, 100, 100
MOVE G6D, 100, 135, 60, 123, 100, 100
MOVE G6B, 100, 120, 140, 100, 100, 100
MOVE G6C, 100, 120, 140, 100, 100, 100
WAIT


DELAY 100
SPEED 3
MOVE G6A, 114, 135, 60, 123, 105, 100
MOVE G6D, 88, 110, 91, 116, 100, 100
MOVE G6B, 100, 120, 140, 100, 100, 100
MOVE G6C, 100, 120, 140, 100, 100, 100
WAIT
DELAY 100
MOVE G6A, 114, 135, 60, 123, 105, 100
MOVE G6D, 89, 135, 60, 123, 100, 100
MOVE G6B, 100, 120, 140, 100, 100, 100
MOVE G6C, 100, 120, 140, 100, 100, 100
WAIT

MOVE G6A, 120, 135, 60, 123, 110, 100
MOVE G6D, 89, 135, 60, 123, 130, 100
MOVE G6B, 100, 120, 140, 100, 100, 100
MOVE G6C, 100, 120, 140, 100, 100, 100
WAIT

SPEED 4
MOVE G6A, 120, 135, 60, 123, 120, 100
MOVE G6D, 89, 135, 60, 123, 158, 100
MOVE G6B, 100, 165, 185, 100, 100, 100
MOVE G6C, 100, 165, 185, 100, 100, 100
WAIT

SPEED 8
MOVE G6A, 120, 131, 60, 123, 185, 100
MOVE G6D, 120, 131, 60, 123, 183, 100
MOVE G6B, 100, 165, 185, 100, 100, 100
MOVE G6C, 100, 165, 185, 100, 100, 100
WAIT

DELAY 200

SPEED 5
MOVE G6A, 120, 131, 60, 123, 185, 100
MOVE G6D, 120, 131, 60, 123, 183, 100
MOVE G6B, 100, 120, 145, 100, 100, 100
MOVE G6C, 100, 120, 145, 100, 100, 100
WAIT

SPEED 6

MOVE G6A, 86, 112, 73, 127, 101, 100
MOVE G6D, 105, 131, 60, 123, 183, 100
MOVE G6B, 100, 120, 145, 100, 100, 100
MOVE G6C, 100, 120, 145, 100, 100, 100
WAIT

SPEED 3
MOVE G6A, 86, 118, 73, 127, 101, 100
MOVE G6D, 112, 131, 62, 123, 133, 100
MOVE G6B, 100, 80, 80, 100, 100, 100
MOVE G6C, 100, 80, 80, 100, 100, 100
WAIT

SPEED 3
MOVE G6A, 88, 115, 86, 115, 90, 100
MOVE G6D, 107, 135, 62, 123, 113, 100
MOVE G6B, 100, 80, 80, 100, 100, 100
MOVE G6C, 100, 80, 80, 100, 100, 100
WAIT

SPEED 4
MOVE G6A, 100, 135, 60, 123, 100, 100
MOVE G6D, 100, 135, 60, 123, 100, 100
MOVE G6B, 100, 80, 80, 100, 100, 100
MOVE G6C, 100, 80, 80, 100, 100, 100
WAIT

RETURN
'================================================
'================================================
forward_punch:
SPEED 15
MOVE G6A, 92, 100, 110, 100, 107, 100
MOVE G6D, 92, 100, 110, 100, 107, 100
MOVE G6B, 190, 150, 10, 100, 100, 100
MOVE G6C, 190, 150, 10, 100, 100, 100
WAIT
SPEED 15
HIGHSPEED SETON

MOVE G6B, 190, 10, 75, 100, 100, 100
MOVE G6C, 190, 140, 10, 100, 100, 100
WAIT
DELAY 500
MOVE G6B, 190, 140, 10, 100, 100, 100
MOVE G6C, 190, 10, 75, 100, 100, 100
WAIT
DELAY 500

MOVE G6A, 92, 100, 113, 100, 107, 100
MOVE G6D, 92, 100, 113, 100, 107, 100
MOVE G6B, 190, 150, 10, 100, 100, 100
MOVE G6C, 190, 150, 10, 100, 100, 100
WAIT

HIGHSPEED SETOFF
MOVE G6A, 100, 115, 90, 110, 100, 100
MOVE G6D, 100, 115, 90, 110, 100, 100
MOVE G6B, 100, 80, 60, 100, 100, 100
MOVE G6C, 100, 80, 60, 100, 100, 100
WAIT
RETURN
'================================================
'================================================
righ_tumbling:

SPEED 8
MOVE G6A, 100, 135, 60, 123, 100, 100
MOVE G6D, 100, 135, 60, 123, 100, 100
MOVE G6B, 100, 120, 140, 100, 100, 100
MOVE G6C, 100, 120, 140, 100, 100, 100
WAIT
DELAY 100

SPEED 3
MOVE G6A, 83, 110, 91, 116, 100, 100
MOVE G6D, 114, 135, 60, 123, 105, 100
MOVE G6B, 100, 120, 140, 100, 100, 100
MOVE G6C, 100, 120, 140, 100, 100, 100
WAIT
DELAY 100

MOVE G6A, 89, 135, 60, 123, 100, 100
MOVE G6D, 114, 135, 60, 123, 105, 100
MOVE G6B, 100, 120, 140, 100, 100, 100
MOVE G6C, 100, 120, 140, 100, 100, 100
WAIT

MOVE G6A, 89, 135, 60, 123, 130, 100
MOVE G6D, 120, 135, 60, 123, 110, 100
MOVE G6B, 100, 120, 140, 100, 100, 100
MOVE G6C, 100, 120, 140, 100, 100, 100
WAIT

SPEED 4
MOVE G6A, 89, 135, 60, 123, 158, 100
MOVE G6D, 120, 135, 60, 123, 120, 100
MOVE G6B, 100, 165, 185, 100, 100, 100
MOVE G6C, 100, 165, 185, 100, 100, 100
WAIT

SPEED 8
MOVE G6A, 120, 131, 60, 123, 183, 100
MOVE G6D, 120, 131, 60, 123, 185, 100
MOVE G6B, 100, 165, 185, 100, 100, 100
MOVE G6C, 100, 165, 185, 100, 100, 100
WAIT

DELAY 200

SPEED 5
MOVE G6A, 120, 131, 60, 123, 183, 100
MOVE G6D, 120, 131, 60, 123, 185, 100
MOVE G6B, 100, 120, 145, 100, 100, 100
MOVE G6C, 100, 120, 145, 100, 100, 100
WAIT

SPEED 6
MOVE G6A, 105, 131, 60, 123, 183, 100
MOVE G6D, 86, 112, 73, 127, 101, 100
MOVE G6B, 100, 120, 145, 100, 100, 100
MOVE G6C, 100, 120, 145, 100, 100, 100
WAIT

SPEED 3
MOVE G6A, 112, 131, 62, 123, 133, 100
MOVE G6D, 86, 118, 73, 127, 101, 100
MOVE G6B, 100, 80, 80, 100, 100, 100
MOVE G6C, 100, 80, 80, 100, 100, 100
WAIT

SPEED 3
MOVE G6A, 107, 135, 62, 123, 113, 100
MOVE G6D, 88, 115, 89, 115, 90, 100
MOVE G6B, 100, 80, 80, 100, 100, 100
MOVE G6C, 100, 80, 80, 100, 100, 100
WAIT

SPEED 4
MOVE G6A, 100, 135, 60, 123, 100, 100
MOVE G6D, 100, 135, 60, 123, 100, 100
MOVE G6B, 100, 80, 80, 100, 100, 100
MOVE G6C, 100, 80, 80, 100, 100, 100
WAIT

RETURN
'================================================
'================================================
back_tumbling:

SPEED 8
GOSUB standard_pose
MOVE G6A, 100, 170, 71, 23, 100, 100
MOVE G6D, 100, 170, 71, 23, 100, 100
MOVE G6B, 80, 50, 70, 100, 100, 100
MOVE G6C, 80, 50, 70, 100, 100, 100
WAIT

MOVE G6A, 100, 133, 71, 23, 100, 100
MOVE G6D, 100, 133, 71, 23, 100, 100
MOVE G6B, 10, 96, 15, 100, 100, 100
MOVE G6C, 10, 96, 14, 100, 100, 100
WAIT

MOVE G6A, 100, 133, 49, 23, 100, 100
MOVE G6D, 100, 133, 49, 23, 100, 100
MOVE G6B, 45, 116, 15, 100, 100, 100
MOVE G6C, 45, 116, 14, 100, 100, 100
WAIT

MOVE G6A, 100, 133, 49, 23, 100, 100
MOVE G6D, 100, 70, 180, 160, 100, 100
MOVE G6B, 45, 50, 70, 100, 100, 100
MOVE G6C, 45, 50, 70, 100, 100, 100
WAIT

SPEED 15
MOVE G6A, 100, 133, 180, 160, 100, 100
MOVE G6D, 100, 133, 180, 160, 100, 100
MOVE G6B, 10, 50, 70, 100, 100, 100
MOVE G6C, 10, 50, 70, 100, 100, 100
WAIT

HIGHSPEED SETON
MOVE G6A, 100, 95, 180, 160, 100, 100
MOVE G6D, 100, 95, 180, 160, 100, 100
MOVE G6B, 160, 50, 70, 100, 100, 100
MOVE G6C, 160, 50, 70, 100, 100, 100
WAIT

HIGHSPEED SETOFF

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

GOSUB back_standing

RETURN
'================================================
back_standing:

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
'================================================
'================================================
left_attack:
SPEED 7
GOSUB left_attack1

SPEED 12
HIGHSPEED SETON
MOVE G6A, 98, 157, 20, 134, 110, 100
MOVE G6D, 57, 115, 77, 125, 134, 100
MOVE G6B, 107, 135, 108, 100, 100, 100
MOVE G6C, 112, 92, 99, 100, 100, 100
WAIT
DELAY 1000
HIGHSPEED SETOFF
SPEED 15
GOSUB sit_pose
RETURN
'================================================
left_attack1:
MOVE G6A, 85, 71, 152, 91, 107, 60
MOVE G6D, 108, 76, 145, 93, 100, 60
MOVE G6B, 100, 40, 80, , , ,
MOVE G6C, 100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
right_attack:
SPEED 7
GOSUB right_attack1

SPEED 12
HIGHSPEED SETON
MOVE G6D, 98, 157, 20, 134, 110, 100
MOVE G6A, 57, 115, 77, 125, 134, 100
MOVE G6B, 112, 92, 99, 100, 100, 100
MOVE G6C, 107, 135, 108, 100, 100, 100
WAIT
DELAY 1000
HIGHSPEED SETOFF
SPEED 15
GOSUB sit_pose
RETURN
'================================================
right_attack1:
MOVE G6D, 85, 71, 152, 91, 107, 60
MOVE G6A, 108, 76, 145, 93, 100, 60
MOVE G6C, 100, 40, 80, , , ,
MOVE G6B, 100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
left_forward:
SPEED 7

MOVE G6A, 85, 71, 152, 91, 107, 60
MOVE G6D, 108, 76, 145, 93, 100, 60
MOVE G6B, 130, 40, 80, , , ,
MOVE G6C, 70, 40, 80, , , ,
WAIT

SPEED 12
HIGHSPEED SETON

MOVE G6A, 107, 164, 21, 125, 93
MOVE G6D, 66, 163, 85, 65, 130
MOVE G6B, 189, 40, 77
MOVE G6C, 50, 72, 86
WAIT

DELAY 1000
HIGHSPEED SETOFF

GOSUB sit_pose
RETURN

'================================================
'=========================================== =====
right_forward:
SPEED 7
MOVE G6D, 85, 71, 152, 91, 107, 60
MOVE G6A, 108, 76, 145, 93, 100, 60
MOVE G6C, 130, 40, 80, , , ,
MOVE G6B, 70, 40, 80, , , ,
WAIT

SPEED 10
HIGHSPEED SETON
MOVE G6D, 107, 164, 21, 125, 93
MOVE G6A, 66, 163, 85, 65, 130
MOVE G6C, 189, 40, 77
MOVE G6B, 50, 72, 86
WAIT

DELAY 1000
HIGHSPEED SETOFF

GOSUB sit_pose
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

GOSUB standard_pose

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

GOSUB standard_pose
RETURN
'=================================================

'================================================
'MARTIAL ARTS TEST DEMO (START)
'By: Matt Bauer
'BAUER Independents
'http://www.bauerindependents.com
'nerds@earthlink.net
2-13-06

martial_arts_pose:
HIGHSPEED SETON
SPEED 15
'Martial Arts Pose (MAP) right
MOVE G24, 92, 110, 85, 122, 109, , 100, 177, 163, , , , 100, 88, 132, , , , 60, 61, 162, 94, 130,
HIGHSPEED SETOFF
WAIT
DELAY 500
'MAP transition (slow)
SPEED 3
MOVE G24, 74, 65, 142, 107, 140, , 100, 177, 163, , , , 102, 88, 132, , , , 86, 70, 147, 105, 95,
WAIT
'MAP combo
HIGHSPEED SETON
SPEED 15
MOVE G24, 74, 66, 142, 108, 140, , 189, 92, 97, , , , 158, 23, 50, , , , 89, 69, 144, 106, 91,
WAIT
'rn_4:
MOVE G24, 100, 75, 135, 115, 102, , 145, 115, 71, , , , 160, 102, 60, , , , 99, 68, 142, 117, 97,
WAIT
DELAY 400
'rn_5:
MOVE G24, 103, 64, 113, 156, 98, , 156, 44, 33, , , , 153, 34, 50, , , , 83, 112, 111, 115, 115,
WAIT
HIGHSPEED SETOFF
WAIT
DELAY 800
'MAP transitionraise arms (slow)
SPEED 6
MOVE G24, 94, 83, 98, 137, 99, , 68, 144, 125, , , , 86, 127, 127, , , , 81, 116, 97, 110, 122,
WAIT
'rn_7:
HIGHSPEED SETON
SPEED 15
MOVE G24, 109, 126, 47, 146, 91, , 189, 96, 101, , , , 29, 180, 190, , , , 69, 147, 100, 77, 127,
WAIT
HIGHSPEED SETOFF
WAIT
DELAY 1000
'MAP tranition casual movements
SPEED 4
MOVE G24, 82, 42, 141, 131, 119, , 189, 96, 101, , , , 31, 180, 190, , , , 101, 113, 93, 113, 95,
SPEED 10
MOVE G24, 84, 57, 138, 130, 117, , 160, 24, 58, , , , 157, 38, 75, , , , 99, 63, 126, 138, 95,
WAIT
'MAP transition casual movements
SPEED 4
MOVE G24, 86, 82, 125, 108, 101, , 76, 157, 180, , , , 85, 75, 139, , , , 97, 113, 94, 111, 113,
WAIT
DELAY 300
'MAP left defend pose
RETURN

martial_arts_pose2:
HIGHSPEED SETON
SPEED 14
MOVE G24, 80, 72, 155, 83, 132, , 176, 103, 92, , , , 36, 170, 190, , , , 98, 66, 164, 82, 86,
DELAY 600
WAIT
HIGHSPEED SETOFF
WAIT
'MAP arms up
SPEED 10
MOVE G24, 87, 61, 165, 90, 118, , 109, 159, 131, , , , 100, 141, 122, , , , 106, 53, 188, 75, 87,
WAIT
MUSIC "E" 'as code indicator durring troublshooting
DELAY 200
RETURN

martial_arts_pose3:
'MAP kneel down attack
HIGHSPEED SETON
SPEED 12
MOVE G24, 103, 122, 59, 134, 88, , 177, 34, 45, , , , 187, 74, 73, , , , 60, 120, 103, 93, 146,
WAIT
DELAY 300
'rn_13:
MOVE G24, 116, 111, 61, 156, 87, , 185, 96, 93, , , , 11, 183, 179, , , , 64, 121, 103, 111, 130,
WAIT
DELAY 300
HIGHSPEED SETOFF
WAIT
RETURN
martial_arts_pose4:
'(A) MAP casual defencive pose
SPEED 5
MOVE G24, 92, 85, 104, 125, 93, , 189, 10, 15, , , , 187, 91, 97, , , , 80, 108, 92, 118, 131,
WAIT
'(B) MAP back and fouth ballance movements (linked to previous)
SPEED 3
MOVE G24, 83, 77, 123, 110, 99, , 189, 14, 15, , , , 182, 92, 98, , , , 91, 116, 82, 116, 123
< BR>
WAIT
'(C) MAP back and fouth ballance movements (linked to previous)
SPEED 3
MOVE G24, 88, 73, 118, 122, 98, , 181, 14, 15, , , , 180, 87, 98, , , , 87, 101, 90, 126, 124,
WAIT
'(D) MAP back and fouth ballance movements (linked to previous)
MOVE G24, 93, 89, 86, 138, 101, , 181, 14, 15, , , , 170, 88, 95, , , , 79, 104, 83, 129, 123,
WAIT
'(E) MAP back and fouth ballance movements (linked to previous)
MOVE G24, 81, 72, 116, 128, 106, , 190, 10, 15, , , , 187, 97, 101, , , , 92, 105, 76, 138, 115,
WAIT
'(A) MAP back and fouth ballance movements (linked to previous)
MOVE G24, 92, 85, 104, 125, 93, , 189, 10, 15, , , , 187, 91, 97, , , , 80, 108, 92, 118, 131,
WAIT '
'MAP transition casual
SPEED 6
MOVE G24, 108, 86, 103, 129, 90, , 104, 163, 157, , , , 102, 109, 145, , , , 71, 72, 139, 111, 127,
WAIT
RETURN

martial_arts_pose5:
GOSUB map_right_attack 'As found in the default Overall Template Program
DELAY 100
'MAP clap-like sequense
SPEED 15
MOVE G24, 101, 65, 148, 100, 99, , 190, 10, 44, , , , 190, 10, 42, , , , 98, 63, 153, 99, 99,
WAIT
SPEED 8
MOVE G24, 101, 65, 148, 100, 99, , 190, 66, 12, , , , 190, 66, 14, , , , 98, 63, 153, 99, 99,
WAIT

GOSUB standard_pose
WAIT
RETURN


'================================================
'================================================

map_sit_pose:
MOVE G6A, 99, 164, 23, 114, 99
MOVE G6D, 99, 166, 21, 113, 98
MOVE G6B, 170, 55, 45
MOVE G6C, 117, 55, 68
WAIT
RETURN

'================================================
'================================================

map_stand_pose:
MOVE G6A, 98, 78, 111, 131, 100
MOVE G6D, 93, 69, 118, 137, 105
MOVE G6B, 189, 23, 45
MOVE G6C, 174, 26, 71
RETURN
'================================================
'================================================

map_right_attack:
SPEED 7
GOSUB map_right_attack1

HIGHSPEED SETON
SPEED 12
MOVE G6A, 58, 115, 77, 125, 134
MOVE G6D, 93, 157, 20, 134, 110
MOVE G6B, 125, 79, 99
MOVE G6C, 107, 135, 108
WAIT
DELAY 1000
HIGHSPEED SETOFF
SPEED 15
GOSUB map_sit_pose
RETURN
'================================================
map_right_attack1:
MOVE G6D, 85, 71, 152, 91, 107, 60
MOVE G6A, 108, 76, 145, 93, 100, 60
MOVE G6C, , , , , , ,
MOVE G6B, , , , , , ,
WAIT
RETURN
'================================================
'
'MARTIAL ARTS TEST DEMO (END)

[bauermech]

HI I HAVE THIS MARTIAL ARTS PROGRAM AND EVERYTIME I RUN IT, SOME OF THE MOVES MAKES MY ROBONOVA FALL DOWN. KINDLY PLEASE CHECK WHAT IS WRONG WITH THE PROGRAM.

I’m not claiming this code is universally plug-n-play. Some RN-1’s have had no trouble at all, while others have. Every RN-1 is set up a little different from the next.... executing the Martial Arts moves flawlessly depends on zero settings, surface level, surface texture, etc.

If you watch this video, you'll see (especially in the slow motion section) how closely my RN-1 comes to tipping over throughout the sequence. I had the same problem in keeping him upright during the first attempts, but simply had to tweak the code until he didn't fall over. …changing speed settings …delay times… sometimes having to go as far as making limbs move dramatically in an opposing direction to counter-act his momentum etc. A lot of trial and error, but the code you have is the same code used to make the video.

It will require some time and a little extra effort on your end to make the compatibility of each movement specific to your RN-1.

Hope this helps... good luck.

[bauermech]

P.S. Holy code! Maybe next time, instead of posting the lengthy code in its entirety, you could post a small section of it, or e-mail it to me

[crosswede]

Hello
1th sorry - my english is a little 'pidchin'. Long time ago when I've was figthing in school for some words which guaranted the 'five' to all my certifications. Thank god the 'six' is really the most worst case

I've took the KungFu code and it working real well ! Impressing - I#d never thought that there put so much dynamic in this little "machine".

I began just the first steps with the Robo - in this moment I have still to learn from it, in further future may be that works in other direction .

Regards 2 all

[Chrisbie]

HI, Sorry MATT, I did send you an email with attachment regarding some help on the code. And even posted several times for some help on the Code but no reply was received. SORRY FOR THAT MY APOLOGIES...

Anyways, thanks for the reply and will try your advice. THANKS...

[CaptKill4Fun]

... Hi,

I have Matt's Kung-Fu motions + my own "Honor thy Master" motions and the rest is original RoboNova-1 motions ... all in one template posted in both BASIC & .OBJ code on my web site ...

They are posted gratis for everyone's enjoyment ...

[CaptKill4Fun]

...

[Chrisbie]

HI thanks for the kung fu code Walt.

By the way, i send you private email.

THanks... please reply..

[Zembot]

Hi all! First time poster here. I should start by mentioning I’m a total newb with absolutely no programming experience. I’ve wanted a walking robot since I was a kid growing up in the 60’s. Wow it’s finally happened! Yesterday I received my RTW Robonova-1. Unpacked it, charged the robot and installed two AAA batteries into the Remocon and I was in robot heaven. It performed perfect and is Ready-to-Walk (and run, cartwheel, flip, etc.) out of the box.

So tonight I decided to experiment and connect it to my PC. Somehow I really screwed it up after 5 minutes of having it connected. After my screw up, when I powered-on the robot, it would contort into a painful position. Not sure what the heck I did. Anyhow, I started over with downloading the Overall Tempate Program.bas from the CD and adjusting the zero points. It was then good as new.

Now it has a fresh charged battery and I had the urge to try some Kung fu. I copied/pasted Mr. Bauer’s code and did as instructed. It works flawlessly on my bot! This thing is so fun I split a gut laughing whenever I press a button!

Overall I’m incredibly pleased with the RTW RN-1. Yeehaa!

Later,
Zembot

[Bullit]

Welcome aboard!

[bauermech]

Yes, congradulations! Glad the code worked for you and, more important, you're having fun with it.

[Gman]

Nice work Bauermech
The code is very well done and I thank you for sharing.

Anyone that is having troubles with the robot tipping should heed Bauermech's advice......

executing the Martial Arts moves flawlessly depends on zero settings, surface level, surface texture, etc.

Don't hesitate to slow down the motor speeds so you can see which part of the sequence is transfering too much energy. It is kung-fu (well more like a wrestler flexing) after all, so just slow it down into tai-chi to better understand the dynamics.

I had to slightly change 2 motor position values at the hips in
'MAP clap-like sequense
for better balance on my bot.

or try playing the movements in a different order until the results please you. I found this really improved my robots stability during playback.

....and be sure your battery is FULLY charged as this can make a difference in the robots ability to perform.

The footwork is super excellent!!
cheers

[Gman]

Hello everybody

Just thought I'd post a video of a punching move I've been working on. I'm still trying to figure out how to get the robot to do this move at highspeed without falling over.
However I'm pretty happy with the way the robot is shifting it's weight to transfer the energy of the arms. yay!

http://robosavvy.com/Builders/Gman/Gman ... hnique.MPG

[1UpCheatachu]

That's a cool move. You'll have to send that to me, I might be able to speed it up because I'm getting gyros.