Last Updated January 31 2005

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HEX    BINARY

Now  V2 ir Code has 12 Data Bitís.   the first 4 Data bits, represent the Robot, so   0011 would be V2,   0010 Roboraptor, etc.....  the next 8 Data bitís are the command for the Robot to do.   I have displayed a Hex / Binary converter for anyone who readís IR Codes from AiboPetís website. 

0

0000

1

0001

2

0010

3

0011

4

0100

5

0101

6

0111

7

1000

8

1001

9

1010

A

1011

B

1100

C

1101

D

1110

E

1111

Controller Command in BX24 - you call this program Call WlkBwd, to perform the command

Sub WlkBwd() '  V2 Walk Forward $300+ DIR ( 1 down ) = $3 01

Call PulseOut(Sapien,Startbit,0)

Call Pulseout(Sapien,Lowbit,1) '0   first bit xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) '  Space Coded InBetween

Call Pulseout(Sapien,Lowbit,1) ' 0   first bit xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

Call Pulseout(Sapien,Highbit,1)  ' 1  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

Call Pulseout(Sapien,Highbit,1)  ' 1  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

'XXXX-XXXX

Call Pulseout(Sapien,Lowbit,1) ' 0  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

Call Pulseout(Sapien,Lowbit,1) ' 0  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

Call Pulseout(Sapien,Lowbit,1) ' 0  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

Call Pulseout(Sapien,Lowbit,1) ' 0  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween
 

Call Pulseout(Sapien,Lowbit,1) ' 0  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

Call Pulseout(Sapien,Lowbit,1) ' 0  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

Call Pulseout(Sapien,Lowbit,1) ' 0  first bit  xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

Call Pulseout(Sapien,Highbit,1)  ' 1   first bit xxxx-xxxx
Call Pulseout(Sapien,Clockbit,0) ' Space Coded InBetween

End Sub

Pulseout Startbit, allows V2 commands to be sent via iRPin.

These 4 Lines are the first 4 data bits on a V2 command,  and   will also be at the beginning of a Controller Command.

xxxx- 4 Bit V2 Main iR Code

-xxxx-xxxx- 8 Bit Controller Command

 

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