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'@ Platform BasicX
'@ Version: 1.0
'@ Author: Brian Patton (brianp@robodyssey.com)
' Robodyssey Systems, LLC. - www.robodyssey.com
'@ Last Updated: Dec 31, 2003
'***********************************************
'A fun little run through some expressions on an ESRA
'using a BasicX-24 and a Robodyssey MotherBoard
'************************************************
Option Explicit

Const uplip as Byte = 5
Const lowlip as Byte = 6
Const eyes as Byte = 7
Const eyelids as Byte = 8

Const SSleep as Single = 0.015
Dim slowmoveuplip as Single
Dim slowmoveeyelid as Single
Dim slowmovelowlip as Single

'************************************************
'*********Main Program***************************

Public Sub Main()
Do
Call smile
Call Apathy
Call BigSmile
Call Apathy
Call Sad
Call Apathy
Call VerySad
Call Apathy
Call SlowSmile
Call Apathy
Loop
End Sub
'*************************************************
Sub Smile()
Dim x as Byte
For x = 1 to 20
Call PulseOut(uplip, 0.0022, 1)'bigger happier
Call PulseOut(lowlip, 0.0013, 1)'bigger sadder
Call PulseOut(eyelids, 0.0015, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right

Sleep(0.025)
Next
End Sub
'*************************************************
Sub BigSmile()
Dim x as Byte
For x = 1 to 20
Call PulseOut(uplip, 0.0023, 1)'bigger happier
Call PulseOut(lowlip, 0.0011, 1)'bigger sadder
Call PulseOut(eyelids, 0.0015, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right

Sleep(0.025)
Next
End Sub
'*************************************************
Sub Sad()
Dim x as Byte
For x = 1 to 20
Call PulseOut(uplip, 0.0013, 1)'bigger happier
Call PulseOut(lowlip, 0.0017, 1)'bigger sadder
Call PulseOut(eyelids, 0.0015, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right

Sleep(0.025)
Next
End Sub
'*************************************************
Sub Apathy()
Dim x as Byte
For x = 1 to 20
Call PulseOut(uplip, 0.0016, 1)'bigger happier
Call PulseOut(lowlip, 0.0016, 1)'bigger sadder
Call PulseOut(eyelids, 0.0015, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right

Sleep(0.025)
Next
End Sub
'*************************************************
Sub VerySad()
Dim x as Byte
For x = 1 to 20
Call PulseOut(uplip, 0.0012, 1)'bigger happier
Call PulseOut(lowlip, 0.0022, 1)'bigger sadder
Call PulseOut(eyelids, 0.0012, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right

Sleep(0.025)
Next
End Sub
'*************************************************
Sub SlowSmile()
Dim x as Byte
slowmoveeyelid = 0.0012
slowmovelowlip = 0.0012
slowmoveuplip = 0.0012
For x = 1 to 20
Call PulseOut(uplip, 0.0010, 1)'bigger happier
Call PulseOut(lowlip, 0.0015, 1)'bigger sadder
Call PulseOut(eyelids, 0.0012, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right
Sleep(0.025)
Next

For x = 1 to 100
slowmoveuplip = slowmoveuplip + 0.000011
slowmoveeyelid = slowmoveeyelid + 0.000008
Call PulseOut(uplip, slowmoveuplip, 1)'bigger happier
Call PulseOut(lowlip, 0.0015, 1)'bigger sadder
Call PulseOut(eyelids, slowmoveeyelid, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right

Sleep(0.025)
Next

For x = 1 to 120
slowmoveuplip = slowmoveuplip - 0.000011
slowmoveeyelid = slowmoveeyelid - 0.000008
Call PulseOut(uplip, slowmoveuplip, 1)'bigger happier
Call PulseOut(lowlip, 0.0015, 1)'bigger sadder
Call PulseOut(eyelids, slowmoveeyelid, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right

Sleep(0.025)
Next

For x = 1 to 100
slowmoveeyelid = slowmoveeyelid + 0.000005
slowmovelowlip = slowmovelowlip + 0.00001

Call PulseOut(uplip, slowmoveuplip, 1)'bigger happier
Call PulseOut(lowlip, slowmovelowlip, 1)'bigger sadder
Call PulseOut(eyelids, slowmoveeyelid, 1)'bigger open
Call PulseOut(eyes, 0.0015, 1)'bigger Look Right
Sleep(0.025)
Next

End Sub

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Robodyssey Systems manufactures Robot Kits including Autonomous Mobile Walking Robots, Wheeled Robots, Talking Robots, Expressive Robots, and Social Robots. We also sell Robotics Accessories including Nexcell NiMH AA Rechargeable Batteries, Nexcell NiMH AAA Rechargeable Batteries, Battery Holders, Velcro Straps for Battery Packs, Battery Chargers, Robot Grippers, Hobby Servos, Servos Modified for Continuous Rotation, Tail Wheels for all Rolling Robotic Platforms, Polyurethane Skate Wheels with Servo Adapter Hubs, Sharp IR Sensors and Adjustable Sensor Brackets, Sensor Cables, and Programming Cables. All of our Robot Kits can be purchased as easy to assemble robot kits or as fully assembled stationary or mobile robots. Robodyssey uses 1/8 inch aluminum and acetyl for most all of our mobile robot components and robotics accessories. We provide classroom training for teachers interested in integrating robotics, computer programming and electronics into the classroom.

We hope you enjoy our web site. Feel free to use any robotic resources. Robodyssey is your complete solution for Educational Robotics as well as Hobby Robotics.