Instructions Circuit Diagram

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vRs232Write(x,y)
x = text
y = text length, 0-255
Example:
void vRs232Write(“Hello World”,11) ;
vRs232Read(x,y,z)
x = pointer to an array to store a text for reception
y = expected text length
z = timeout
Example:
char RxData[10] ;
vRs232Read(&RxData[0],4,0);
Having received 4 symbols the function will be terminated.
vWaitMilliseconds(x)
x = waiting time in milliseconds, 0 - 65635
This function will round up duration periods in ten milliseconds, e.g.
uprounding 23 to 30.
Example: wait 1 second.
vWaitMilliseconds(1000);
vBeep(x,y)
x = pitch number, 1-3906
y = duration in milliseconds.
Example:
vBeep(200,100);
Compound functions
The following functions are compound functions, containing an assem-
bly of one or more basic functions. Compound functions will be found in
thele‘yetimove.c’.
vStandUpright()
Will make YETI to stand up in an upright position. Both ‘body’- and
‘legs’-servosystems will be reset to a zero position.