The Walking Machine Controller command set is an extension of the command set of the OricomTech MSCC20 Servo Controllers. These have over 30 separate commands, including 15 specifically for selection of servo parameters. The commands have a simple ASCII format, and the chips can be controlled manually from a PC using a terminal emulator for testing purposes, or via any controller with RS-232 capability, such as the Basic Stamp, OOPic, or Basic Atom.

On top of this, the WMC chips have an extended set of about 40 additional commands, which allow behavioral sequences (sets of multiple servo movements) to be setup and stored to eeprom for later recall, plus capability to process trigger / alarm events. These commands allow the WMC's to be set up to completely control and coordinate the timing of walking machine gaits and / or animatronics sequences, during which time the host controller is free to engage in other activities.

See the next page for summary of the basic command set of the MSCC20 Servo Controller Computers.

BEHAVIORAL BLOCK CONTROL COMMANDS

BO/BF	turn (B)lock-table execution (O)n or of(F).
BZ	(Z)ero all (B)lock-table entries.
BV	(V)iew all or selected (B)lock-table entries.
BA/BE/BD	(A)dd, (E)dit, or (D)elete a behavioral (B)lock-table entry.
BP/BC/BM	set cycle-(P)eriod, #(C)ycle-iterations, or block-cycle (M)ultiplier for current (B)ehavior.
BW/BN	(B)ehavioral mode - select (W)ide or (N)arrow servo moves.
B0/B1/B3/B4	interactive edit of (B)lock-table entry subcell (1), (3), or (4).

EEPROM ACCESS COMMANDS

EZ	set (E)eprom system to (Z)ero mode.
EO/EY	store c(O)nfiguration data to (E)eprom, or verif(Y) data in (E)eprom.
EV/EE	(E)eprom page (V)iew or (E)rase.
ES/EA	(S)tore block-table or (A)larm-table to (E)eprom page.
EL/EG	(L)oad block-table or (G)et alarm-table from (E)eprom page for editing.
EX	load block table from (E)eprom page for behavior e(X)ecution.
EC/EK/EP	store #iteration-(C)ycles, lin(K)-block#, or cycle-(P)eriod value to (E)eprom page. Used to display same data.
EB	Store in (E)eprom up to 5 startup (B)lock #'s.
ET	display (T)rigger alarm table entries stored in (E)eprom.

TRIGGER / ALARM COMMANDS

TZ	(Z)ero all (T)rigger alarm table entries.
TO/TF	turn (T)rigger alarm mode (O)n or of(F).
TV	(V)iew (T)rigger alarm table entries in RAM.
TH/TL	set to (T)rigger alarm on (H)igh or (L)ow on digital input channel.
TA/TB	set to (T)rigger alarm on A/D channel value (A)bove or (B)elow threshold level.
TD	(T)rigger channel (D)isable.
TR	enable (T)rigger alarm (R)eporting to host cpu.

MISCELLANEOUS COMMANDS

FE/FF	(F)lag command - enable (E)cho (edit) mode, or set echo mode = of(F).
FS/FL/FN	(F)lag command - set (S)low/(L)ong/(N)ormal delay in sending data to host.
Uc	set RS-232 ba(U)drate; allowable settings = 1200, 2400, 4800, 9600, 19200, 38400, 56700, 115200 bps (default = 9600).

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