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Kong - well not quite just yet

Hitec robotics including ROBONOVA humanoid, HSR-8498HB servos, MR C-3024 Controllers and RoboBasic
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Kong - well not quite just yet

Post by plingboot » Fri Nov 17, 2006 10:08 am

Post by plingboot
Fri Nov 17, 2006 10:08 am

Still not quite there with exactly what's needed and what's not, but here's a first attempt at RN1 doing a Kong like chest bash.

Before the booing starts, this is a work in progress. Some of the timings and positions need tweaking to make it a bit more butch.

Also i need to work out why his legs go from under him at the start if i use this as a replacement sub routine in the main template.

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 power on ==============================
SPEED 5
MOTOR G24
GOSUB main
'================================================

MAIN:
TEMPO 230
MUSIC "EDAFDBEDAFDBG"
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
SPEED 10
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
'kneel ==========================================
MOVE G6B,141, 75, 42, 100, 100, 100
MOVE G6C,144, 74, 51, 100, 100, 100
MOVE G6A,102, 147, 24, 148, 98, 100
MOVE G6D,101, 151, 20, 146, 99, 100
WAIT
'spread =========================================
MOVE G6A, 67, 161, 23, 94, 137, 100
MOVE G6C,181, 86, 76, 100, 100, 100
MOVE G6D, 66, 160, 20, 94, 141, 100
MOVE G6B,179, 78, 65, 100, 100, 100
WAIT
'open arms ======================================
MOVE G6B,189, 167, 31, 100, 100, 100
MOVE G6C,187, 148, 30, 100, 100, 100
'bash left ======================================
HIGHSPEED SETON
FOR a=1 TO 10
SPEED 80
MOVE G6B,182, 64, 82, 100, 100, 100
MOVE G6C,187, 160, 81, 100, 100, 100
MOVE G6B,184, 13, 13, 100, 100, 100
MOVE G6C,187, 167, 100, 100, 100, 100
'bash right =====================================
MOVE G6B,184, 101, 31, 100, 100, 100
MOVE G6C,187, 81, 77, 100, 100, 100
MOVE G6B,189, 173, 90, 100, 100, 100
MOVE G6C,185, 10, 23, 100, 100, 100
WAIT
NEXT a
HIGHSPEED SETOFF
'steady =========================================
MUSIC "EDA"
MOVE G6B,188, 136, 34, 100, 100, 100
MOVE G6C,185, 65, 25, 100, 100, 100
WAIT
MOVE G6B,144, 105, 78, 100, 100, 100
MOVE G6C,156, 100, 80, 100, 100, 100
WAIT
SPEED 5
MOVE G6A, 75, 165, 23, 132, 125, 100
MOVE G6B,144, 105, 78, 100, 100, 100
MOVE G6C,156, 100, 80, 100, 100, 100
MOVE G6D, 75, 165, 21, 132, 125, 100
MOVE G6A, 97, 165, 23, 125, 102, 100
MOVE G6B,110, 91, 84, 100, 100, 100
MOVE G6C,112, 95, 79, 100, 100, 100
MOVE G6D, 97, 160, 20, 132, 103, 100
WAIT
'stand ==========================================
MOVE G6A, 98, 93, 102, 127, 102, 100
MOVE G6B,108, 71, 35, 100, 100, 100
MOVE G6C,105, 70, 36, 100, 100, 100
MOVE G6D,102, 93, 102, 129, 98, 100
MOVE G6A, 96, 95, 99, 122, 106, 100
MOVE G6B,108, 28, 90, 100, 100, 100
MOVE G6C,105, 31, 93, 100, 100, 100
MOVE G6D, 98, 95, 100, 122, 100, 100
WAIT
Still not quite there with exactly what's needed and what's not, but here's a first attempt at RN1 doing a Kong like chest bash.

Before the booing starts, this is a work in progress. Some of the timings and positions need tweaking to make it a bit more butch.

Also i need to work out why his legs go from under him at the start if i use this as a replacement sub routine in the main template.

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 power on ==============================
SPEED 5
MOTOR G24
GOSUB main
'================================================

MAIN:
TEMPO 230
MUSIC "EDAFDBEDAFDBG"
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
SPEED 10
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
'kneel ==========================================
MOVE G6B,141, 75, 42, 100, 100, 100
MOVE G6C,144, 74, 51, 100, 100, 100
MOVE G6A,102, 147, 24, 148, 98, 100
MOVE G6D,101, 151, 20, 146, 99, 100
WAIT
'spread =========================================
MOVE G6A, 67, 161, 23, 94, 137, 100
MOVE G6C,181, 86, 76, 100, 100, 100
MOVE G6D, 66, 160, 20, 94, 141, 100
MOVE G6B,179, 78, 65, 100, 100, 100
WAIT
'open arms ======================================
MOVE G6B,189, 167, 31, 100, 100, 100
MOVE G6C,187, 148, 30, 100, 100, 100
'bash left ======================================
HIGHSPEED SETON
FOR a=1 TO 10
SPEED 80
MOVE G6B,182, 64, 82, 100, 100, 100
MOVE G6C,187, 160, 81, 100, 100, 100
MOVE G6B,184, 13, 13, 100, 100, 100
MOVE G6C,187, 167, 100, 100, 100, 100
'bash right =====================================
MOVE G6B,184, 101, 31, 100, 100, 100
MOVE G6C,187, 81, 77, 100, 100, 100
MOVE G6B,189, 173, 90, 100, 100, 100
MOVE G6C,185, 10, 23, 100, 100, 100
WAIT
NEXT a
HIGHSPEED SETOFF
'steady =========================================
MUSIC "EDA"
MOVE G6B,188, 136, 34, 100, 100, 100
MOVE G6C,185, 65, 25, 100, 100, 100
WAIT
MOVE G6B,144, 105, 78, 100, 100, 100
MOVE G6C,156, 100, 80, 100, 100, 100
WAIT
SPEED 5
MOVE G6A, 75, 165, 23, 132, 125, 100
MOVE G6B,144, 105, 78, 100, 100, 100
MOVE G6C,156, 100, 80, 100, 100, 100
MOVE G6D, 75, 165, 21, 132, 125, 100
MOVE G6A, 97, 165, 23, 125, 102, 100
MOVE G6B,110, 91, 84, 100, 100, 100
MOVE G6C,112, 95, 79, 100, 100, 100
MOVE G6D, 97, 160, 20, 132, 103, 100
WAIT
'stand ==========================================
MOVE G6A, 98, 93, 102, 127, 102, 100
MOVE G6B,108, 71, 35, 100, 100, 100
MOVE G6C,105, 70, 36, 100, 100, 100
MOVE G6D,102, 93, 102, 129, 98, 100
MOVE G6A, 96, 95, 99, 122, 106, 100
MOVE G6B,108, 28, 90, 100, 100, 100
MOVE G6C,105, 31, 93, 100, 100, 100
MOVE G6D, 98, 95, 100, 122, 100, 100
WAIT
plingboot
Savvy Roboteer
Savvy Roboteer
Posts: 108
Joined: Thu Oct 26, 2006 1:00 am
Location: the gutter, south west london

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