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Clarify energy cost with LEGS_SET_DIRECTION_AND_WALK, plus some small formatting changes

Ethan Lafrenais 2018-08-30 19:20:45 -04:00
parent 1cfe7f960d
commit d4f2cd0d47
1 changed files with 11 additions and 8 deletions
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Hardware:-Legs.md

@ -9,15 +9,18 @@ Hardware ID: `0x0001`
### Interrupt Behavior ### Interrupt Behavior
| Value of A | Action | Energy cost | Result | | Value of A | Action | Energy cost | Result |
| --- | --- | --- | --- | | --- | --- | --- | --- |
| `1` | `LEGS_SET_DIRECTION` | `20 kJ` | Set the direction | | `1` | `LEGS_SET_DIRECTION` | `20 kJ` | Turns the Cubot to face the [direction](#valid-directions) specified in register `B`. |
| `2` | `LEGS_SET_DIRECTION_AND_WALK` | `100 kJ` | Set the direction and walk forward | | `2` | `LEGS_SET_DIRECTION_AND_WALK` | `100 kJ` | Moves the Cubot to face and walk in the [direction](#valid-directions) specified by register `B`. |
Specify the direction in the B register: #### Valid directions
`NORTH` = `0x0000` | Direction | Value |
`EAST` = `0x0001` | :-------- | :------- |
`SOUTH` = `0x0002` | North | `0x0000` |
`WEST` = `0x0003` | East | `0x0001` |
| South | `0x0002` |
| West | `0x0003` |
### Notes ### 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. - 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.