KNITSU'z EVOSAPIEN WEBPAGE!!!!    Your First  Stop for the Good's
IR - Hex/Binary

This site was last updated: January 08 2005

The IR Carrier is 39.2kHz. Data is modulated using a space coded signal with 8 data bits (data clock is 1200Hz, but actual data rate varies depending on the data).

You can skip the IR and IR modulation by wiring directly into the main PCBoard. This can be encoded easily by almost any small microprocessor. For modulating the signals yourself, the signal looks something like this:

Timing based on 1/1200 second clock (~.833ms)
Signal is normally high (idle, no IR).
Start: signal goes low for 8/1200 sec.
 

Data bits: for each of 8 data bits, space encoded signal depending on bit value
Sends the most significant data bit first

If the data bit is 0: signal goes high for 1/1200 sec, and low for 1/1200 sec.
If the data bit is 1: signal goes high for 4/1200 sec, and low for 1/1200 sec.

BTW: The first bit (msb) is always 1 (valid codes are from $80 to $FF)
When completed, signal goes high again.

No explicit stop bit. Minimal between signals is not known.
 

Red Commands:
=============
(Page P.7)
81 (129) - Right Arm Up 10000001
84 (132) - Right Arm Down 10000100
85 (133) - Right Arm In 10000101
82 (130) - Right Arm Out 10000010
83 (131) - Tilt Body Right 10000011

89 (137) - Left Arm Up 10001001
8C (140) - Left Arm down 10001100
8D (141) - Left Arm In 10001101
8A (138) - Left Arm Out 10001010
8B (139) - Tilt Body Left 10001011

(Page P.8)
80 (128) - Turn Right 10000000
88 (136) - Turn Left 10001000
86 (134) - Walk Forward 10000110
87 (135) - Walk Backward 10000111
8E (142) - Stop 10001110

92 (146) - Right Sensor Program 10010010
94 (148) - Sonic Sensor Program 10010100
93 (147) - Left Sensor Program 10010011
90 (144) - Master Command Program 10010000
91 (145) - Program Play 10010001

Green Commands:
===============
(Page P.9)
A1 (161) - Right Hand Thump 10100001
A4 (164) - Right Hand Pickup 10100100
A5 (165) - Lean Backward '10100101
A2 (162) - Right Hand Throw 10100010
A3 (163) - Sleep 10100011

A9 (169) - Left Hand Thump 10100001
AC (172) - Left Hand Pickup 10101100
AD (173) - Lean Forward 10101101
AA (170) - Left Hand Throw 10101010
AB (171) - Listen 10101011

A0 (160) - Right Turn Step 10100000
A8 (168) - Left Turn Step 10101000
A6 (166) - Forward Step 10100110
A7 (167) - Backward Step 10100111
AE (174) - RESET 10101110

B2 (178) - Right Sensor Program Execute 10110010
B4 (180) - Sonic Sensor Program Execute 10110100
B3 (179) - Left Sensor Program Execute 10110011
B0 (176) - Master Command Program Execute 10110000

B1 (177) - Wake Up 10110001



Orange Commands:
================
(Page P.11)
C1 (193) - Right Hand Sweep 11000001
C4 (196) - High 511000100
C5 (197) - Right Hand Strike 1 11000101
C2 (194) - Burp11000010
C3 (195) - Right Hand Strike 2 11000011

C9 (201) - Left Hand Sweep1 1001001
CC (204) - Talk Back11001100
CD (205) - Left Hand Strike 1 11001101
CA (202) - Whistle11001010
CB (203) - Left Hand Strike 2 11001011

(Page P.12)
C0 (192) - Right Hand Strike 3 11000000
C8 (200) - Left Hand Strike 3 11001000
C6 (198) - Bulldozer 11000110
C7 (199) - Opps! 11000111
CE (206) - Roar 11001110

D2 (210) - Demo 111010010
D4 (212) - Dance 11010100
D3 (211) - Demo 211010011
D0 (208) - All Demo 11010000
D1 (209) - Power Off 11010001




NOTES:
add $08 to go from right-side commands to left-side commands.
add $20 to command bytes for the GREEN shift (ie. $Ax and $Bx range)
add $40 to command bytes for the ORANGE shift (ie. $Cx and $Dx range)







-----------------=============================--------------
Example #1

Sub Roar()'Roar '11001110 (name, command, binary)
CE (206) - Roar 11001110 (hex, decimal, Command, binary)


Sub LHandSk1()'Left Hand Strike 1 '11001101 (name, command, binary)
CD (205) - Left Hand Strike 1 11001101 (hex, decimal, Command, binary)


-----------------=============================--------------
 

 

SECRET UNDOCUMENTED CODES

Several different launch codes (Executing the main program)

  • ∑ ∑ $B0 - standard "EXECUTE" on remote
    Robot says "uh-huh" before starting Main program
    No subroutines called [Execute sensor commands (Green Shift) cause error sounds to be played instead of what they should do -- bug or feature you decide]
  • ∑ ∑ $97 - appears to be same as $B0
  • ∑ ∑ $98 - Quiet execute main program
    Robot does not say "uh-huh"
    No subroutines called
  • ∑ ∑ $9A - Quiet execute main program with subroutines !!
    Robot does not say "uh-huh"
    Subroutines are called (as documented in the manual). This is the one to use.
    Execute feature appears to be same as $91 (regular remote Program Play). $91 button also does other things like end the current recording. $9A code doesn't.
  • Useful? secret codes
    • ∑ ∑ $F6 - feet shuffle
    • ∑ ∑ $FB - nothing (useful as NO-OP)
    • ∑ ∑ $FC - raise arm throw
    • ∑ ∑ $D6 - karate chop
  • WORK IN PROGRESS, not useful [or at least no significant difference detected]
    • ∑ ∑ $95,$96 - Program main again (like $90)
    • ∑ ∑ $99 - like $98
    • ∑ ∑ $9B - like $90 ?
    • ∑ ∑ $9C - do nothing
    • ∑ ∑ $9D,9E,9F - like $90 ?
    • ∑ ∑ $B5 - like $97 ?
    • ∑ ∑ $B6 - like $90 ?
    • ∑ ∑ others - looks like these repeat as well (eg: record/execute one of the program areas) or do nothing
    • ∑ ∑ $E0 - $EE (looks like the $A0 range)
    • ∑ ∑ $EF - nothing
    • ∑ ∑ $F0 - like $97
    • ∑ ∑ $F1 - like $98
    • ∑ ∑ $F2 - Execute right program
    • ∑ ∑ $F3 - Execute left program
    • ∑ ∑ $F4 - Execute sonic program
    • ∑ ∑ $F5 - like $F0/97 ?
    • ∑ ∑ $F7 - like $F0/97 ?
    • ∑ ∑ $F8,F9,FA - like $F1/98 ?
    • ∑ ∑ $FD,FE,FF - program main again (like $90)
  •  

    BuiltWithNOF

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