Instructions Circuit Diagram

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vMoveBody(x,y)
x = YETI’s body is inclining to the left or right position, from -58 (corres-
ponding to an extreme right inclination) up to and including -58 (corres-
ponding to an extreme left inclination)
y=executionspeedinmilliseconds/step,0–65635.
This function will round up delay durations to tens of milliseconds, e.g.
uprounding 17 to 20.
Example:
vMoveBody(-25,20);
From an upright position the command vMoveBody(-25,20) will need
25*20=500ms= 0,5 seconds to incline YETI to the right side at a posi-
tionof–25.
vMoveLegs(x,y)
x = YETI’s right leg will be moved forward or backward (and the other
leg will be moved in the opposite direction), between -58 (right foot
forward) up to and including +58 (left foot forward)
executionspeedinmilliseconds/step,0–65635.
This function will round up delay durations to tens of milliseconds, e.g.
uprounding 3 to 10.
Example:
vMoveLegs(-25,20);
From an upright position the command vMoveLegs(-25,20) will need
25*20=500ms= 0,5 seconds to move YETI’s right leg forward to posi-
tion–25(whilemovingitsleftlegbackward).
vMoveForwardXSteps(x)
x = number of steps forward, 0-255
Example:
vMoveForwardXSteps(3);
YETI will walk 3 steps in forward direction. From an upright position
YETI will always start by moving its right leg in a forward direction.