'20m2 Picaxe
disablebod
  high c.7
pause 1000
'goto loop1
  'high c.4
  'high c.1
b6=200

loop1:
'debug b6
irin c.1, b6

	if b6 = 52 then left	'left
	if b6 = 51 then rt	'right
	if b6 = 116 then forw	'forward
	if b6 = 117 then revr	'reverse
	if b6 = 21 then rst	'reset-power
	if b6 = 96 then act1	'quit

	if b6 = 0 then bt1    '1 top left- remote button 1 =0
	if b6 = 1 then bt2    '2 left elbo-shoulder
	if b6 = 2 then bt3    '3 left gripper
'	if b6 = 3 then b4    'b4
'	if b6 = 4 then b5    'b5
'	if b6 = 5 then b6    'b6
'	if b6 = 6 then act7    'b7
'	if b6 = 7 then act8    'b8
'	if b6 = 8 then act9    'b9
												
goto loop1

'remote control

left:
'turn
servo b.4,170
servopos b.4,170  ; rotate- move servo to rotate 
pause 200
input b.4 
'pause 300

serout C.2,t2400,(170,9,$08,127) 'right Forward fast clock m0 24-127
serout C.2,t2400,(170,9,$0C,127) 'left reverse fast clock m1 24-127 slow speed
pause 500
serout c.2,t2400,(170,9,$08,0) 'speed 0 to stop
serout c.2,t2400,(170,9,$0C,0) 'speed 0 to stop
goto loop1

rt:
servo b.4,170
servopos b.4,170  ; rotate- move servo to rotate 
pause 200
input b.4 
'pause 300

serout C.2,t2400,(170,9,$0A,127) 'right reverse fast c-clock m0 24-127
serout c.2,t2400,(170,9,$0E,127) 'left forward fast c-clock m1 24-127 full speed
pause 500
serout c.2,t2400,(170,9,$0A,0) 'speed 0 to stop
serout c.2,t2400,(170,9,$0E,0) 'speed 0 to stop
goto loop1

forw:
servo b.4,80
servopos b.4,80  ; forward- move servo to forward 
pause 200
input b.4 
'pause 300

serout C.2,t2400,(170,9,$08,127) 'right Forward fast clock m0 24-127
serout c.2,t2400,(170,9,$0E,127) 'left forward fast c-clock m1 24-127 full speed
pause 500
serout c.2,t2400,(170,9,$08,0) 'speed 0 to stop
serout c.2,t2400,(170,9,$0E,0) 'speed 0 to stop
goto loop1

revr:
servo b.4,80
servopos b.4,80  ; forward- move servo to forward 
pause 200
input b.4 
'pause 300

serout C.2,t2400,(170,9,$0A,127) 'right reverse fast c-clock m0 24-127
serout C.2,t2400,(170,9,$0C,127) 'left reverse fast clock m1 24-127 slow speed
pause 500
serout c.2,t2400,(170,9,$0A,0) 'speed 0 to stop
serout c.2,t2400,(170,9,$0C,0) 'speed 0 to stop
goto loop1


bt1:
servo b.3,48
servopos b.3,48     ; v7 on left gripper move servo to left
pause 300         
input b.3

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 300
input b.1
pause 2500

servo b.3,228
servopos b.3,228     ; v9 on left elbow-shoulder move servo to other end-right
pause 300
input b.3
'pause 4000

servo b.3,135
servopos b.3,135     ;v8 on left top  move servo to middle
pause 300         
input b.3

servo b.3,90
servopos b.3,90    ; off v7v8v9  90
pause 400         
input b.3

servo b.1,161
servopos b.1,161  ; off v5v6 vent and pressure move servo to middle 
pause 400
input b.1

goto loop1


bt2:
servo b.2,210
servopos b.2,210    ; v4 on right gripper move servo to other end-right
pause 300
input b.2
'pause 2000

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 300
input b.1
pause 2500

servo b.2,112
servopos b.2,112    ; v3 on right elbow move servo to left
pause 300
input b.2 
'pause 100

servo b.1,161
servopos b.1,161  ; off v5v6 vent and pressure move servo to middle 
pause 400
input b.1

servo b.2,161
servopos b.2,161  ; off v3v4  move servo to middle 
pause 400
input b.2

goto loop1


bt3:
servo b.3,48
servopos b.3,48     ; v7 on left gripper move servo to left
pause 300         
input b.3

servo b.3,228
servopos b.3,228     ; v9 on left elbow-shoulder move servo to other end-right
pause 300
input b.3
'pause 4000

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 300
input b.1
pause 2500

servo b.1,161
servopos b.1,161  ; off v5v6 vent and pressure move servo to middle 
pause 400
input b.1

servo b.3,90
servopos b.3,90    ; off v7v8v9  90
pause 400         
input b.3
goto loop1

rst:  'reset
'open valves and vent

servo b.1,112
servopos b.1,112     ; v5  open vent, move servo to other end-right
pause 400
input b.1

servo b.3,135
servopos b.3,135     ;v8 on left top  move servo to middle
pause 300         
input b.3

servo b.0,112
servopos b.0,112   ; v1 on right top move servo to left 
pause 300
pause 2000

servo b.2,112
servopos b.2,112    ; v3 on right elbow move servo to left
pause 300
input b.2 
pause 3000

servo b.3,48
servopos b.3,48     ; v7 on left gripper move servo to left
pause 300         
input b.3
pause 4000

servo b.0,210
servopos b.0,210   ; v2 on right shoulder  move servo to other end-right
pause 300
input b.0
pause 3000

servo b.2,210
servopos b.2,210    ; v4 on right gripper move servo to other end-right
pause 300
input b.2
pause 2000

servo b.3,135
servopos b.3,135     ;v8 on left top  move servo to middle
pause 300         
input b.3
pause 4000

servo b.3,228
servopos b.3,228     ; v9 on left elbow move servo to other end-right
pause 300
input b.3
pause 4000

'close valves
servo b.0,161
servopos b.0,161  ; off v1v2  move servo to middle 
pause 300
input b.0

servo b.2,161
servopos b.2,161  ; off v3v4  move servo to middle 
pause 400
input b.2

servo b.3,90
servopos b.3,90    ; off v7v8v9  90
pause 400         
input b.3

'wrists reset

servo b.1,161
servopos b.1,161  ; off v5v6 vent and pressure move servo to middle 
pause 400
input b.1

servo b.5,130
servopos b.5,130  ; right wrist horizontal 
pause 300
input b.5 
pause 1000

servo b.6,115
servopos b.6,115  ; left wrist horizontal 
pause 300
input b.6 

goto loop1

act1:   

servo b.3,220
servopos b.3,220     ; v9 on left elbow & shoulder move servo to other end-right 228
pause 200
input b.3

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 300
input b.1
pause 850     '800

servo b.1,161
servopos b.1,161   ; off v5v6 vent-pressure move servo to middle 
pause 400
input b.1
pause 200

servo b.3,90
servopos b.3,90    ; off v7v8v9  90
pause 300         
input b.3

servo b.2,161
servopos b.2,161  ; off v3v4  move servo to middle 
pause 400
input b.2

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 150     '150
input b.1

servo b.0,210
servopos b.0,210   ; v2 on right shoulder  move servo to other end-right
pause 150    '150
input b.0

servo b.1,161
servopos b.1,161  ; off v5v6 vent and pressure move servo to middle 
pause 300
input b.1

servo b.3,90
servopos b.3,90    ; off v7v8v9  90
pause 300         
input b.3
pause 200

servo b.1,161
servopos b.1,161  ; off v5v6 vent and pressure move servo to middle 
pause 300
input b.1

servo b.0,161
servopos b.0,161  ; off v1v2  move servo to middle 
pause 300
input b.0

servo b.3,48
servopos b.3,48     ; v7 on left gripper move servo to left
pause 300         
input b.3
pause 1000

servo b.1,112
servopos b.1,112     ; v5  open vent, move servo to other end-right
pause 400
input b.1

servo b.2,210
servopos b.2,210    ; v4 on right gripper move servo to other end-right
pause 300
input b.2
pause 1000

servo b.5,130
servopos b.5,130  ; right wrist horizontal 
pause 700
input b.5 
pause 300

servo b.6,185    
servopos b.6,185  ; left wrist rotate 210
pause 700
input b.6 

'goto loop1

'forward
servo b.4,80
servopos b.4,80  ; forward- move servo to forward 
pause 500
input b.4 

serout C.2,t2400,(170,9,$08,127) 'right Forward fast clock m0 24-127
serout c.2,t2400,(170,9,$0E,127) 'left forward fast c-clock m1 24-127 full speed
pause 2000
serout c.2,t2400,(170,9,$08,0) 'speed 0 to stop
serout c.2,t2400,(170,9,$0E,0) 'speed 0 to stop

'grip

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 400
input b.1
pause 2000

servo b.1,161
servopos b.1,161  ; off v5v6  move servo to middle 
pause 300
input b.1
pause 2000

'goto loop1 

'reverse
serout C.2,t2400,(170,9,$0A,127) 'right reverse fast c-clock m0 24-127
serout C.2,t2400,(170,9,$0C,127) 'left reverse fast clock m1 24-127 slow speed
pause 1000
serout c.2,t2400,(170,9,$0A,0) 'speed 0 to stop
serout c.2,t2400,(170,9,$0C,0) 'speed 0 to stop
pause 500

'left
servo b.4,170
servopos b.4,170  ; rotate- move servo to rotate 
pause 200
input b.4 

serout C.2,t2400,(170,9,$08,127) 'right Forward fast clock m0 24-127
serout C.2,t2400,(170,9,$0C,127) 'left reverse fast clock m1 24-127 slow speed
pause 900
serout c.2,t2400,(170,9,$08,0) 'speed 0 to stop
serout c.2,t2400,(170,9,$0C,0) 'speed 0 to stop
pause 500

'forward
servo b.4,80
servopos b.4,80  ; forward- move servo to forward 
pause 500
input b.4 

serout C.2,t2400,(170,9,$08,127) 'right Forward fast clock m0 24-127
serout c.2,t2400,(170,9,$0E,127) 'left forward fast c-clock m1 24-127 full speed
pause 1000
serout c.2,t2400,(170,9,$08,0) 'speed 0 to stop
serout c.2,t2400,(170,9,$0E,0) 'speed 0 to stop
goto loop1

act2:  'pose1

servo b.3,220
servopos b.3,220     ; v9 on left elbow & shoulder move servo to other end-right 228
pause 200
input b.3

servo b.3,48
servopos b.3,48     ; v7 on left gripper move servo to left
pause 300         
input b.3

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 300
input b.1
pause 850     '800

servo b.1,161
servopos b.1,161   ; off v5v6 vent-pressure move servo to middle 
pause 400
input b.1
pause 200

servo b.3,90
servopos b.3,90    ; off v7v8v9  90
pause 300         
input b.3
goto loop1

servo b.2,161
servopos b.2,161  ; off v3v4  move servo to middle 
pause 400
input b.2

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 150     '150
input b.1

servo b.0,210
servopos b.0,210   ; v2 on right shoulder  move servo to other end-right
pause 150    '150
input b.0

servo b.1,161
servopos b.1,161  ; off v5v6 vent and pressure move servo to middle 
pause 300
input b.1

servo b.3,90
servopos b.3,90    ; off v7v8v9  90
pause 300         
input b.3
pause 200

servo b.1,161
servopos b.1,161  ; off v5v6 vent and pressure move servo to middle 
pause 300
input b.1

servo b.0,161
servopos b.0,161  ; off v1v2  move servo to middle 
pause 300
input b.0

servo b.3,48
servopos b.3,48     ; v7 on left gripper move servo to left
pause 300         
input b.3
pause 1000

servo b.1,112
servopos b.1,112     ; v5  open vent, move servo to other end-right
pause 400
input b.1

servo b.2,210
servopos b.2,210    ; v4 on right gripper move servo to other end-right
pause 300
input b.2
pause 1000

servo b.5,130
servopos b.5,130  ; right wrist horizontal 
pause 700
input b.5 
pause 300

servo b.6,185    
servopos b.6,185  ; left wrist rotate 210
pause 700
input b.6 

'grip

servo b.1,210
servopos b.1,210   ; v6  open pressure, move servo to other end-right
pause 400
input b.1
pause 2000

servo b.1,161
servopos b.1,161  ; off v5v6  move servo to middle 
pause 300
input b.1
pause 2000

goto loop1

act3:
goto loop1
act4:
goto loop1