Instructions Circuit Diagram

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vMoveBackwardXSteps(x)
x = number of steps backward, 0-255
Example:
vMoveBackwardXSteps(4);
YETI will walk 3 steps in backward direction. From an upright position
YETI will always start by moving its right leg.
vTurnLeftXSteps(x,y)
x = number of steps, 0-255
y = ‘true’ respectivily ‘false’, true = moving forward, false = moving
forward.
Example:
vTurnLeftXSteps(2,false);
YETI will turn around backward, moving backward 2 steps in a left turn.
vTurnRightXSteps(x,y)
x = number of steps, 0-255
y = ‘true’ respectivily ‘false’, true = moving forward, false = moving
forward.
Example:
vTurnLeftXSteps(3,true);
YETI will turn around forward, moving forward 3 steps in a right turn.
vCalibrateServos()
In a combination with the free communication software Hyperterminal
this function will be needed to recalibrate the servo system each time
you adjust the mechanical positions of servomotors or servomotor-
limbs. The function may alse be used for remote controlling the YETI
by Hyperterminal keyboard, using keys ‘W’, ‘A’, ’S’ and ’D’.
Hint:
Having calibrated the YETI’s servos, you may remove this function
fromthele,resultinginaconsiderablereductionoftheprogram’sle
size.