Hero-1 Interpreter Commands

Command

Form

Title

02	.	Abort Drive
03	.	Abort Steering
04	.	Abort ARM
05	.	Abort Speech
1C	OO	Branch if Base busy
1D	OO	Branch if Steering
1E	OO	Branch if ARM busy
1F	OO	Branch if Speaking
21	.	Zero (initialize)
3A	.	Return to executive
41	.	Enable light detect
42	.	Enable sound detect
45	.	Enable sonar
4B	.	Enable motion det.
4E	.	Enable Display
51	.	Disable Light det.
52	.	Disable sound det.
55	.	Disable motion det.
5B	.	Disable sonar
5E	.	Disable display
61	OO	Speak, continue
62	OO	Speak, wait
71	MM MM	Speak, continue
72	MM MM	Speak, wait
83	.	Switch to NATIVE code
87	XX XX	Sleep (imm)
8F	XX XX	Pause (imm)
BF	MM MM	Jump when speaking
C3	SS XX	Motor, wait abs
CC	SS XX	Motor, continue abs
D3	SS XX	Motor, wait rel
DC	SS XX	Motor, continue rel
E3	OO	Motor, wait abs
EC	OO	Motor, continue abs
F3	MM MM	Motor, wait abs
FC	MM MM	Motor, continue abs
FD	**	All motors ABS Extend, Sholder, Rotate, Pivot, Grip, Head, Steer

MM	memory address
OO	offset number
SS	select motor speed/direction
XX	distance, position, time, etc

SS XX Motor Control Commands

1=position decreasses as motor runs

SS Byte	XX Byte
	mmmssDdd	dddd dddd
where:
	mmm are the motor select bits:
	000 = drive motor	100 = wrist pivot motor
	001 = extend motor	101 = gripper motor
	010 = shoulder motor	110 = head motor
	011 = wrist rotate motor	111 = steeringmotor
	ss are the speed select bits:
	01 = slow	10 = medium	11 = fast
	D selects which way motor runs
	0 = position increasses as motor runs
	dd dddd dddd select motor position
	how far to run motor, top to bits for drive motor only