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(Hardware) Legs

simon987 edited this page 2019-11-03 09:21:11 -05:00

Table of Contents

• Specifications
• Interrupt Behavior
• Valid directions
• Notes

Articulated spider-like legs. Enables your Cubot to walk on standard surfaces.

Specifications

Manufacturer: 立方電子
Version: 1.0B
Default address: 0x0001
Hardware ID: 0x0001

Interrupt Behavior

Value of A	Action	Energy cost	Result
1	LEGS_SET_DIRECTION	20 kJ	Turns the Cubot to face the direction specified in register B.
2	LEGS_SET_DIRECTION_AND_WALK	100 kJ	Moves the Cubot to face and walk in the direction specified by register B.

Valid directions

Direction	Value
North	0x0000
East	0x0001
South	0x0002
West	0x0003

Notes

• Only one walk can be performed per tick, the last such LEGS_SET_DIRECTION_AND_WALK in the tick will be the one performed during the tick transition. LEGS_SET_DIRECTION may be performed multiple times during a tick.
• Since only the last LEGS_SET_DIRECTION_AND_WALK in a tick will be performed, running the action does not immediately use energy, which means that using this action 5 times in one tick will not use 500 kJ and instead consume 100 kJ at the end of the tick. This is not true for LEGS_SET_DIRECTION, which will use energy immediately upon being ran.