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Autonomous v.1.2

This site was last updated: January 08 2005

Robosapien Autonomous V.1.1 VIDEO UP

Chick  here...DOWNLOAD/OPEN NOW

to watch the video that I have made of my robosapien demonstrating this new code that I  used with my BasicX-24 and RAMB board.....

Thnx All @YahooGrP 4 Support

&  Chris Odom for the next idea for upgrade V.1.3 in the next few weeks

;-)

This is my latestest updated version of Robosapien Autonomous V.1.1 July 09 2005

Now  Robosapien is more aware of his surroundings...

He starts by taking a simple reading... in which if something is to Far he  continues to move forward, stopping every 3 seconds to take a new reading...

If Robosapien notices something that is getting close, but not to to close, he will call a program, in which will raise his left arm take a reading, lower his arm, and then raise his other arm, causing his head and  sensor to pan to the sides getting readings for each sides... Then the chip does a mathamatical equation simply is one side is greater then the other call  turn(side) and if the other side is bigger call this side.....

after  his turn has happened, he loops back to the beginning of the code resesting his body postion (for best movement/walking straight) and tkaing a reading.....

If something is to to close, and Robosapien recognizes it, he will talk a few steps back, and then call the Cehck sides in which he will take readings from the  sides and the side furthest away he will turn to and moveforward...

such problems I encountered were timing the arms to raise fast enough and delay so that the sensor could take a stable reading.. I also fixed this by making the  sensor take 3 readings form each side and diving it into 3 giving me a more  accurrate value of the sides..

certain updates would include converting the value to CM, or lighting up the BX chips GREEN/RED lights when he is in a certain mode so it is easy to understand when you do not have him plugged into a pc

another update would be something about walking forward a  certain amount of times and then take a reading just because he has being  walking straight for so long, he might be trapped under a chair/ or something, this might help “glitches” in the system since their is only 1 sensor plugged  into him

here is what the BX-24 downloader windows looks like when I turn on my RS and the  code below this and let him wander my room for a few minutes.. with my 25 foot  cable

***  Finished Downloading

RS Walking Forward
RS Walking Forward
RS Walking Forward

RS Checking  Side Val
Val for Right is - 4
Val for Left is - 109
Robosapien TurnRight

RS Checking Side Val
Val for Right is - 169
Val for Left is - 4
Robosapien Turn Left

RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward

RS Checking Side Val
Val for Right is - 145
Val for Left is  - 266
Robosapien TurnRight

RS Walking Forward
RS Walking Forward

RS Checking Side Val
Val for Right is - 85
Val for Left is  - 165
Robosapien TurnRight

RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward

RS Checking Side Val
Val for  Right is - 97
Val for Left is - 97
RS Checking Side Val
Val for Right  is - 100
Val for Left is - 116
Robosapien TurnRight

RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward
RS Walking Forward

'*********************************************************************************

'  Autonomous Robosapien Version 1.0.0.02 Extreme Elimination BETA

'*********************************************************************************

'  Robosapien w/ RAMB (BasicX 24) by Chance Brown "knitsu"
' Sharp Infrared Sensor connected to Pin 12 on the BX-24
' IR PIN from Robosapien connected to  Pin 13 on the BX-24

' more Robosapien BX-24 can be found at

'  http://evosapien.com/robosapien-hack/knitsu/

' This Program basically allows your Robosapien to wander on his

' own  "Autonomously" until the Batteries die, or he get's stuck in a

' tight  spot that he cant get proper readings from.

' for  adding something new to the program I recommend this:

' trying to add the actual Sensor's robosapien has built in him

' but  you will have to find out the IR codes for Program LEFT/RIGHT sensors

' and  apply those to the BITS below, where the other RS Control Commands

' are  located. This way if Robosapien does get stuck in a corner, or  table/chair

' he will most likely hit his sensor and perform the operation you programmed in

' here for that sensor to do, like Walk Back, Walk Back, Left Turn, Left Turn,  ROAR

' or something along those lines.

' thanks to all the people that have being helping me out, R.Oschler, Brian.P,  T.Andley

' and  also to the big man himself M.W. Tilden for creating this amazing Robot for me  to

' learn  the basics 101 of Robotics, I thank you so much!

'**********************************************************************************

'**********************************************************************************

Option Explicit

Public Const LowBit as single = 0.000833 'Time it takes for the low bit

Public Const StartBit as single = 0.006664 'Time it takes for the start bit

Public Const HighBit as single = 0.003332 'Time it takes for the high bit

Public Const ClockBit as single = 0.000833 'Clock bit time

Dim  ValueCentre as Integer ' Name of Centre Sensor Value

Dim  ValueLeft as Integer ' Name of Left Sensor Value

Dim  ValueRight as Integer ' Name of Right Sensor Value

Dim  ValueRightAvg as Integer '

Dim  ValueLeftAvg as Integer '

Public Const Sapien As Byte = 12 'Robosapien iR is connected to pin

'12 on the BX-24 'That is labled pin 8 on the motherboard

Const  CenterIRPin As Byte = 13 'The sharp Sensor is connected to pin

'13 on the BX-24 'That is labled pin 9 on the motherboard

'*********************************************************************

Public Sub Main()

Do

Call Reading

Loop

End  Sub

'*********************************************************************

Sub  Reading()

Do

ValueCentre = GetADC(13)

If ValueCentre > 450 Then

Call RSBackup

Call Delay (0.5)

End  If

if ValueCentre < 150 THEN ' nothing in sight for a distance

Call RSfoward

End  If

Call BackStep

Call Delay(3.0)

Call SensorCentre

Loop

End  Sub

'*********************************************************************

'  ROBOSAPIEN SHARP SENSOR CENTRE(INFRONT) READINGS

'*********************************************************************

Sub  SensorCentre()

Do

Call Putpin(Sapien,1) 'turns the Pin for Robosapien iR ON

Debug.Print"RS Checking Side Values"

Call Delay (3.0)

CALL RIGHTHANDUP

Call Delay (2.0)

ValueRight= GetADC(13)+GetADC(13)+GetADC(13) ' Right Side  Value

ValueRightAvg= ValueRight \ 3

Call Delay (0.7)

debug.print"Val for Right is - " ;Cstr(ValueRightAvg)

Call Delay (0.5)

CALL RIGHTHANDDOWN

Call Delay(2.0)

Call LEFTHANDUP

Call Delay (2.0)

ValueLeft=GetADC(13)+GetADC(13)+GetADC(13) ' Left Side Value

ValueLeftAvg= ValueLeft \ 3

Call Delay (0.7)

debug.print"Val for Left is - " ;Cstr(ValueLeftAvg)

Call Delay (0.5)

Call LEFTHANDDOWN

Call Delay (1.0)

If ValueLeft > ValueRight THEN

Call RSRIGHT

Call Delay (0.2)

End  If

IF ValueLeftAvg < ValueRightAVG Then

Call RSLEFT

Call Delay(0.2)

End  If

Loop

End  Sub

'*********************************************************************

Sub  RSLEFT()

DO

Debug.Print "Robosapien Turn Left"

Call TurnLeft

Call Delay(3.0)

Call oops

Call Delay (0.5)

Call Reading

LOOP

END  SUB

'*********************************************************************

SUB  RSRIGHT()

DO

Debug.Print "Robosapien TurnRight"

Call TurnRight

Call Delay (3.0)

Call oops

Call Delay (1.0)

Call Reading

LOOP

END  SUB

'*********************************************************************

Sub  RSfoward()

Do

Debug.Print"RS Walking Forward"

Call Delay (0.3)

Call ForwardStep

Call Delay (4.0)

ValueCentre= getADC(13)

if valuecentre >150 Then

Call SensorCentre

End  If

Loop

End  Sub

'*********************************************************************

Sub  LEFTHANDUP()

Debug.print"RS Raise LHand"

CALL LARMUP

Call Delay (0.5)

Call LArmUp

Call Delay (0.5)

Call LArmUp

Call Delay (0.5)

End  Sub

'*********************************************************************

Sub  LEFTHANDDOWN()

Debug.print"RS Lower LHand"

CALL LARMDown

Call Delay (0.5)

Call LArmDown

Call Delay (0.5)

Call LArmDown

Call Delay (0.5)

End  Sub

'*********************************************************************

Sub  RIGHTHANDUP()

Debug.print"RS Raise RHand"

CALL RARMUP

Call Delay (0.5)

Call RArmUp

Call Delay (0.5)

Call RArmUp

Call Delay (0.5)

End  Sub

'*********************************************************************

Sub  RIGHTHANDDOWN()

Debug.print"RS Lower RHand"

CALL RARMDown

Call Delay (0.5)

Call RArmDown

Call Delay (0.5)

Call RArmDown

Call Delay (0.5)

End  Sub

'*********************************************************************

Sub  RSbackup()

Do

Debug.Print"RS Walking Backward"

Call Delay (0.3)

Call BackStep

Call Delay (4.0)

Call StopIt

Call Delay (0.5)

Call SensorCentre

Loop

End  Sub

'*********************

Sub  Stopit()'Stop It

'10001110

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************'*********************

Sub  TurnRight()'Turn Right

'10000000

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RArmUp()'Right Arm Up

'10000001

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1)

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1)

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RArmOut()'Right Arm Out

'10000010

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  TltBodyR()'Tilt Body Right

'10000011

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RArmDown()'Right Arm Down

'10000100

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RArmIn()'Right Arm In

'10000101

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  WalkForward()'Walk Forward

'10000110

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  WalkBack()'Walk Backwards

'10000110

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  TurnLeft()'Turn Left

'10001000

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LArmUp()'Left Arm Up

'10001001

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LArmOut()'Left Arm Out

'10001010

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  TltBodyL()'Tilt Body Left

'10001011

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LArmDown()'Left Arm Down

'10001100

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LArmIn()'Left Arm In

'10001101

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RTurnStep()'Right Turn Step

'10100000

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RHandThump()'Right Hand Thump

'10100000

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RHandThrow()'Right Hand Throw

'10100000

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  SleepIt()'Sleep

'10100011

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RHandPick()'Right Hand PickUp

'10100100

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LeanBack()'Lean Backwards

'10100101

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  ForwardStep()'Forward Step

'10100110

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  BackStep()'Backward Step

'10100111

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LTurnStep()'Left Turn Step

'10101000

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LHandThump()'Left Hand Thump

'10101001

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LHandThrow()'Left Hand Throw

'10101010

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  Listen()'Listen

'10101011

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LHandPick()'Left Hand PickUp

'10101100

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LeanForward()'Lean Forward

'10101101

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  ResetIt()'Reset

'10101110

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

'*********************

Sub  RHandSk3()'Right Hand Strike 3

'11000000

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RHandSweep()'Right Hand Sweep

'11000001

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  Burp()'Burp

'11000010

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RHandSK2()'Right Hand Strike 2

'11000011

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  High5()'High Five

'11000100

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  RHandSK1()'Right Hand Strike 1

'11000101

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  BullDozer()'BullDozer

'11000110

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  Oops()'Fart

'11000111

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LHandSk3()'Left Hand Strike 3

'11001000

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LHandSweep()'Left Hand Sweep

'11001001

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  Whistle()'Whistle

'11001010

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LHandSk2()'Left Hand Strike 2

'11001011

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  TalkBack()'TalkBack

'11001100

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  LHandSk1()'Left Hand Strike 1

'11001101

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

Sub  Roar()'Roar

'11001110

Call Pulseout(Sapien,startbit,0)

Call Pulseout(Sapien,HighBit,1) '7 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '6 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '5 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '4 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '3 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '2 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,HighBit,1) '1 bit

Call Pulseout(Sapien,Clockbit,0)

Call Pulseout(Sapien,LowBit,1) '0 bit

Call Pulseout(Sapien,Clockbit,0)

End  Sub

'*********************

'Robosapien is a trademark of WOW WEE

BuiltWithNOF

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Evosapien NEWS

Wow Wee 2006 Robot Line is out.. CLICK HERE to check out my page about it, which will constantly be updated to show users t he new pictures, or videos t hat might come out!!! Wow Wee has their own Software NOW!! YaY!!!!

Click Here to watch Mark Tilden, V2, Roboraptor on the Gadget Show  10mb    4:42 Min

This is what you get when you get 2 RSv2s with fresh batteries, Robopet, Roboraptor,  and 3 V1s  all in the same room, fighting over what to watch on the TV!!!

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