I decoded the Tomy Isobot IR protocol and made a shield for the Pro Mini 8Mhz to attach like a backpack to the Isobot. I have attached some quick pics. It is completely self sustained (runs off Isobot's 3 Nimhs), has an IR receiver to decode button commands, IR led to send to the bot, and an extra analog port for a distance sensor like my Maxbotics sonar (or a ping). Now I will go ahead and try to make the Isobot autonomous. Ill post code if anyone asks.
So the arduino does not interfere with the robot's servos yet, it can only interpret the commands from the remote for now, right?
cool project.
Did I get it right: you use an IR LED to control the robot? If you want to make the robot move, you send the corresponding IR code via this LED?
Yes, bohne you are correct. The arduino basically emulates the remote right now, so to do a punch, it will send the punch command through the IR led. I couldnt ever directly control the each of the 17 servos like I originally planned but if I ever get an oscilloscope, that will be on my to do list
great idea, can you provide more information about the IR codes? Are they RC5 codes? Maybe you can provide the command set or a sketch as an example?
Do you know other toys that use the same IR codes?
Its all in the code:
//Isobot IR decoder
//Written by Miles Moody
//Isobot IR protocol works as follows
//carrier freq of about 38khz
//header pulse of 2550 micros high
//22 data bits=4 for channel number, 18 for button number
//highs carry no info and are 550 micros each
//lows are logic 0 if 550 micros, logic 1 if 1050 micros
//at end of stream or in between, 205 millis low
//NOTE: my ir reciever pin goes low when it detects high signal
// and stays high when nothing is being recieved
// that could cause some confusion
//-------------------buttoncodes-------------------------
#define forward 898819
#define backward 964611
#define sideright 703491
#define sideleft 637699
#define p1 922368
#define k1 991744
#define g1 602624
#define zero 1034752
#define hp 775424
//-------------------info about bits-------------------------------
#define totallength 22 //number of highs/bits 4 channel +18 command
#define channelstart 0
#define commandstart 4 //bit where command starts
#define channellength 4
#define commandlength 18
//---------determined empirically--------------
#define headerlower 2300 //lower limit
#define headernom 2550 //nominal
#define headerupper 2800 //upper limit
#define zerolower 300
#define zeronom 380 //nominal
#define zeroupper 650
#define onelower 800
#define onenom 850 //nominal
#define oneupper 1100
#define highnom 630
//---------------------pin assignments--------------
#define TXpin 7
#define RXpin 2 //doesnt use interrupts so can be anything
//----------------------variables----------------------
boolean bit2[totallength];
unsigned long buttonnum;
//-----------------------program-----------------------
void setup() {
Serial.begin(38400);
Serial.println("Analyze Isobot IR Remote");
pinMode(RXpin, INPUT);
pinMode(TXpin, OUTPUT);
}
void loop(){
//Serial.println(receivecode()); //To find buttoncodes
if(Serial.available()>0){ //Serial control
char switcher= Serial.read();
switch (switcher){
case 'w':
buttonwrite(TXpin, forward);
break;
case 's':
buttonwrite(TXpin, backward);
break;
case 'a':
buttonwrite(TXpin, sideleft);
break;
case 'd':
buttonwrite(TXpin, sideright);
break;
case 'p':
buttonwrite(TXpin, p1);
break;
case 'k':
buttonwrite(TXpin, k1);
break;
case 'g':
buttonwrite(TXpin, g1);
break;
case 'h':
buttonwrite(TXpin, hp);
break;
case '0':
buttonwrite(TXpin, zero);
break;
}
}
}
unsigned long receivecode(){ //receives single code then puts into ulong code
boolean bit[totallength]; //should be 22 data bits 0-3 are channel code 4-21 are command bits
unsigned long plen[totallength]; //pulse length for debugging
int i=0; //bit number
boolean channel;//channel A=0 channel B=1
unsigned long commandcode; //18bits
unsigned long totalcode; //22bits
Serial.println("Waiting...");
while(digitalRead(RXpin)==HIGH){}//kill time till header pulse comes in
//RX is low here
for(i=0; i<totallength; i++){
plen[i]=pulseIn(RXpin, HIGH); //get length of HIGH pulses (yea mine works backwards)
}
for (i=0; i<totallength; i++){ //sets bits based on pulselength of HIGHs
if (plen[i]<zeroupper && plen[i]>zerolower)bit[i]=0;
else if (plen[i]<oneupper && plen[i]>onelower)bit[i]=1;
}
if (bit[0]==0)channel=0; //calculates channel based on highest bit value
else if (bit[0]==1)channel=1;
//commandcode=BtoI(commandstart, commandlength, bit); //calculates just commandcode
//totalcode=BtoI(channelstart, totallength, bit); //calculates totalcode
/* //uncomment code for signal analysis
Serial.println("p len\thi/lo"); //prints pulse length and bit state
for (i=0; i<totallength; i++){
Serial.print(plen[i]);
Serial.print("\t");
Serial.println(bit[i], DEC);
}
*/
/*
Serial.print("ch\tb code\t code\n"); //prints channel, buttoncode, channelcode
if (channel==0)Serial.print("A\t");
else Serial.print("B\t");
Serial.print(commandcode);
Serial.print("\t");
Serial.println(totalcode);
*/
/*
ItoB(commandcode, 18); //checks ItoB
ItoB(totalcode, 22);
for(i=commandstart; i<totallength; i++) Serial.print(bit2[i], DEC);
Serial.println();
for(i=0; i<totallength; i++) Serial.print(bit2[i], DEC);
Serial.println();
*/
for(i=0; i<totallength; i++) plen[i]=0;
delay(1000); //delays to cut repeated
return(BtoI(channelstart, totallength, bit));
}
unsigned long BtoI(int start, int numofbits, boolean bit[]){ //binary array to integer conversion
unsigned long integer=0;
int i=start;
int n=0;
while(n<numofbits){
integer+=bit[i]*power2((numofbits-n-1)); //same as pow()
i++;
n++;
}
Serial.println();
return integer;
}
void ItoB(unsigned long integer, int length){ //needs bit2[length]
for (int i=0; i<length; i++){
if ((integer / power2(length-1-i))==1){
integer-=power2(length-1-i);
bit2[i]=1;
}
else bit2[i]=0;
}
}
unsigned long power2(int power){ //gives 2 to the (power)
unsigned long integer=1; //apparently both bitshifting and pow functions had problems
for (int i=0; i<power; i++){ //so I made my own
integer*=2;
}
return integer;
}
void buttonwrite(int txpin, unsigned long integer){ //must be full integer (channel + command)
ItoB(integer, 22); //must have bit2[22] to hold values
oscWrite(txpin, headernom);
for(int i=0;i<totallength;i++){
if (bit2[i]==0)delayMicroseconds(zeronom);
else delayMicroseconds(onenom);
oscWrite(txpin, highnom);
}
delay(205);
}
void oscWrite(int pin, int time) { //writes at approx 38khz
for(int i = 0; i < (time / 52) - 1; i++){ //prescaler at 26 for 16mhz, 52 at 8mhz, ? for 20mhz
digitalWrite(pin, HIGH);
delayMicroseconds(13);
digitalWrite(pin, LOW);
delayMicroseconds(13);
}
}
turned the code into my first library. much neater now
example code:
#include <Isobot.h>
Isobot bot(7);
unsigned long time1, time2;
void setup(){
time1=time2=millis();
pinMode(13, OUTPUT);
}
void loop(){
if(millis()>(5000+time1)){
digitalWrite(13, HIGH);
bot.buttonwrite(homeposition,3);
time1=millis();
digitalWrite(13,LOW);
}
if(millis()>(20000+time2)){
digitalWrite(13,HIGH);
bot.buttonwrite(rpunch,3);
time2=time1=millis();
digitalWrite(13,LOW);
}
}
Isobot.h:
//Isobot IR Decoding and Sending Library
//Written by Miles Moody
//Free and open to the public
#ifndef Isobot_h
#define Isobot_h
#include "WProgram.h"
#include "WConstants.h"
class Isobot{
public:
Isobot(int txpin);
Isobot(int txpin, int rxpin);
unsigned long receivecode();
void buttonwrite(unsigned long integer);
void buttonwrite(unsigned long integer, int numoftimes);
private:
int TXpin;
int RXpin;
void oscWrite(int time);
unsigned long power2(int power);
void ItoB(unsigned long integer, int length);
unsigned long BtoI(int start, int numofbits, boolean bit[]);
};
//-------------------buttoncodes-------------------------
#define forward 898819
#define backward 964611
#define sideright 703491
#define sideleft 637699
#define fleft 1030403
#define fright 571907
#define bleft 834819
#define bright 900611
#define fclockwise 966403
#define fcounter 1032195
#define bclockwise 573699
#define bcounter 639491
#define headleft 907015
#define headright 775948
#define leanforward 841478
#define leanback 1038081
#define lpunch 922368
#define r12 661248
#define lchop 858368
#define sidechopl 663040
#define combopunch 597248
#define rpunch 988160
#define rchop 924160
#define l12 792576
#define sidechopr 728832
#define lbackhand 529664
#define doublechop 989952
#define doublebackhand 925952
#define slapping 860160
#define rbackhand 595456
#define upperchop 531456
#define roundhousel 991744
#define roundhouser 533248
#define forwardkickl 599040
#define forwardkickr 664832
#define sidekickl 730624
#define roundhouselr 666624
#define forwardkicklr 732416
#define combokick 798208
#define sidekickr 796416
#define backkickl 927744
#define backkickr 993536
#define highkickl 864000
#define highkickr 995328
#define splits1 536832
#define guardl 602624
#define guardr 668416
#define doubleguard1 734208
#define doubleguard2 800000
#define dodgel 865792
#define dodger 931584
#define duck 604160
#define swayback 669952
#define upblock 735744
#define splits2 801536
#define comboblock 867328
#define zero 1034752
#define homeposition 775424
#define soundoff 840451
#define affirm 540416
#define disagree 803328
#define goodmorning 934912
#define greet1 1000704
#define greet2 608000
#define greet3 739328
#define greet4 805120
#define bye1 870912
#define bye2 936704
#define bye3 1002496
#define bye4 544000
#define bye5 542208
#define respect 869120
#define thanks1 609792
#define thanks2 675584
#define love1 872704
#define love2 938496
#define love3 1004288
#define standupfront 933120
#define standupback 998912
#define excited1 743168
#define excited2 874496
#define excited3 940288
#define excited4 618752
#define party 677376
#define amazed 750336
#define regret1 547584
#define regret2 744960
#define regret3 810752
#define worry 679168
#define pain1 1007872
#define pain2 615168
#define beg1 942080
#define beg2 880128
#define merry 552960
#define hilarious 1013504
#define hidenseek 613376
#define youlike 682752
#define mystery5 748544
#define tipsy 814336
#define tickleme 686080
#define tiredfeet 751872
#define needabreak 817664
#define wave1 883456
#define wave2 949248
#define applause 947712
#define mystery6 945920
#define toosexy 1015040
#define clink 556544
#define relax 753664
#define soccer1 885248
#define soccer2 600832
#define soccer3 535040
#define lift 819456
#define countonme 951040
#define articulation 1016832
#define showoff1 558336
#define showoff2 624128
#define showoff3 689920
#define showoff4 821248
#define cominthrough 887040
#define catch 1006080
#define pose1 771840
#define pose2 903168
#define pose3 968960
#define mystery1 684544
#define mystery2 816128
#define mystery3 881920
#define mystery4 549376
#define forwardsomersault 952832
#define headstandexercises 1018624
#define exercises 560128
#define airdrum 625920
#define airguitar 691712
#define randomperformance1 954624
#define randomanimal 627712
#define tropicaldance 825088
#define giantrobot 956416
#define western 1022208
#define randomperformance2 629504
#endif
and Isobot.cpp:
#include "WProgram.h"
#include "Isobot.h"
//Isobot IR decoder and Controller
//Written by Miles Moody
//Isobot IR protocol works as follows
//carrier freq of about 38khz
//header pulse of 2550 micros high
//22 data bits=4 for channel number, 18 for button number
//highs carry no info and are 550 micros each
//lows are logic 0 if 550 micros, logic 1 if 1050 micros
//at end of stream or in between, 205 millis low
//NOTE: my ir reciever pin goes low when it detects high signal
// and stays high when nothing is being recieved
// that could cause some confusion
//-------------------info about bits-------------------------------
#define totallength 22 //number of highs=bits 4 channel +18 command
#define channelstart 0
#define commandstart 4 //bit where command starts
#define channellength 4
#define commandlength 18
//---------determined empirically--------------
#define headerlower 2300 //lower limit
#define headernom 2550 //nominal
#define headerupper 2800 //upper limit
#define zerolower 300
#define zeronom 380 //nominal
#define zeroupper 650
#define onelower 800
#define onenom 850 //nominal
#define oneupper 1100
#define highnom 630
//global vars (might be needed)
bool bit2[22]={};
//Constructors
Isobot::Isobot(int txpin){
pinMode(txpin, OUTPUT);
TXpin=txpin;
}
Isobot::Isobot(int txpin, int rxpin){
pinMode(txpin, OUTPUT);
pinMode(rxpin, INPUT);
TXpin=txpin;
RXpin=rxpin;
}
//functions
void Isobot::oscWrite(int time){
for(int i = 0; i < (time / 52) - 1; i++){ //prescaler at 26 for 16mhz, 52 at 8mhz, ? for 20mhz
digitalWrite(TXpin, HIGH);
delayMicroseconds(13);
digitalWrite(TXpin, LOW);
delayMicroseconds(13);
}
}
unsigned long Isobot::power2(int power){ //gives 2 to the int(power)
unsigned long integer=1; //apparently both bitshifting and pow functions had problems
for (int i=0; i<power; i++){ //so I made my own
integer*=2;
}
return integer;
}
void Isobot::buttonwrite(unsigned long integer){ //must be full integer (channel + command)
ItoB(integer, 22); //must have bit2[22] to hold values
oscWrite(headernom);
for(int i=0;i<totallength;i++){
if (bit2[i]==0)delayMicroseconds(zeronom);
else delayMicroseconds(onenom);
oscWrite(highnom);
}
delay(205);
}
void Isobot::buttonwrite(unsigned long integer, int numoftimes){ //same as above but repeats numoftimes
ItoB(integer, 22);
for (int n=0;n<numoftimes;n++){
oscWrite(headernom);
for(int i=0;i<totallength;i++){
if (bit2[i]==0)delayMicroseconds(zeronom);
else delayMicroseconds(onenom);
oscWrite(highnom);
}
delay(205);
}
}
void Isobot::ItoB(unsigned long integer, int length){ //needs bit2[length]
for (int i=0; i<length; i++){
if ((integer / power2(length-1-i))==1){
integer-=power2(length-1-i);
bit2[i]=1;
}
else bit2[i]=0;
}
}
unsigned long Isobot::BtoI(int start, int numofbits, boolean bit[]){ //binary array to integer conversion
unsigned long integer=0;
int i=start;
int n=0;
while(n<numofbits){
integer+=bit[i]*power2((numofbits-n-1)); //same as pow()
i++;
n++;
}
Serial.println();
return integer;
}
unsigned long Isobot::receivecode(){ //receives single code then puts into ulong code
boolean bit[totallength]; //should be 22 data bits 0-3 are channel code 4-21 are command bits
unsigned long plen[totallength]; //pulse length for debugging
int i=0; //bit number
boolean channel;//channel A=0 channel B=1
unsigned long commandcode; //18bits
unsigned long totalcode; //22bits
Serial.println("Waiting...");
while(digitalRead(RXpin)==HIGH){}//kill time till header pulse comes in
//RX is low here
for(i=0; i<totallength; i++){
plen[i]=pulseIn(RXpin, HIGH); //get length of HIGH pulses (yea mine works backwards)
}
for (i=0; i<totallength; i++){ //sets bits based on pulselength of HIGHs
if (plen[i]<zeroupper && plen[i]>zerolower)bit[i]=0;
else if (plen[i]<oneupper && plen[i]>onelower)bit[i]=1;
}
if (bit[0]==0)channel=0; //calculates channel based on highest bit value
else if (bit[0]==1)channel=1;
//commandcode=BtoI(commandstart, commandlength, bit); //calculates just commandcode
//totalcode=BtoI(channelstart, totallength, bit); //calculates totalcode
/* //uncomment code for signal analysis
Serial.println("p len\thi/lo"); //prints pulse length and bit state
for (i=0; i<totallength; i++){
Serial.print(plen[i]);
Serial.print("\t");
Serial.println(bit[i], DEC);
}
*/
/*
Serial.print("ch\tb code\t code\n"); //prints channel, buttoncode, channelcode
if (channel==0)Serial.print("A\t");
else Serial.print("B\t");
Serial.print(commandcode);
Serial.print("\t");
Serial.println(totalcode);
*/
/*
ItoB(commandcode, 18); //checks ItoB
ItoB(totalcode, 22);
for(i=commandstart; i<totallength; i++) Serial.print(bit2[i], DEC);
Serial.println();
for(i=0; i<totallength; i++) Serial.print(bit2[i], DEC);
Serial.println();
*/
for(i=0; i<totallength; i++) plen[i]=0;
delay(1000); //delays to cut repeated
return(BtoI(channelstart, totallength, bit));
}
Hooray for my first library completed!!!
This is amazing, I had this idea as well after i got an isobot for christmas. Thank you so much, I am just about to try this out. ;D
ive been having some trouble using this, I am trying to control my isobot from keyboard commands sent through serial to the arduino. I am using
#include <Isobot.h>
Isobot bot(13);
unsigned long time1, time2;
long timer;
void setup(){
Serial.begin(38400);
time1=time2=millis();
pinMode(13, OUTPUT);
Serial.println("Starting...");
delay(500);
Serial.println("go!");
}
void loop(){
//timer = millis()/1000;
//Serial.println(timer);
delay(1000);
//digitalWrite(13, HIGH);
bot.buttonwrite(forward,3);
Serial.println("Forward");
//digitalWrite(13, LOW);
}
with the ir led on pin 13,
I was able to receive signals from the remote
and correctly identify which movement they were
Any ideas? thanks in advancel. :-?
Hello knuckles904,
great work on that I-Sobot hacking! 
Have you made any further progress on that topic ?
Would be nice to read some news.
I have bought an I-Sobot but it will take some time to get it to my place.
Can you show / explain your extra sensors please ?
I would like to add proximity sensors too.
I want to make this little fellow a soccer player.
Like two sensors on each foot. If there is something close to them (the ball), then he should make the kick on that specific foot.
But unfortunately I don't have great programming skills. 
One thing to note for jcolebot, you have to change the prescaler in the .cpp file if youre using a 16mhz arduino from 52 to 26 or it wont oscwrite wont work right. I have been using an 8mhz pro mini arduino so i left it at 52.
To crazydoc, made a little progress with a proximity ultrasound sensor letting me either avoid obstacles walking around or home in on them and punch them. Should be really easy to get yours playing soccer but hard to do it well. I check here pretty regularly and id be glad to give any help i can with your project
Hi,
can you show some more pictures of your setup please ?
Do you use a USB TTL-232R 3V3 cable ?
I wonder why the cable is more expensive than the Arduino Pro Mini itself.
If I start the project: Will it be better to buy the 16MHz version ?
Or the newer ATmega328 ?
Thanks.
I cant get you anymore pics for at least a week. Im on summer vacation away from my apartment right now.
I use this: FTDI Basic Breakout - 3.3V - DEV-08772 - SparkFun Electronics, i think its as cheap as it comes (most people already have the usb cable)
As for the version of arduino, i chose 8mhz pro mini cuz it runs off 3.3v as opposed to 5v. The isobot carries only 3.6v of AAAs so i would have needed another battery pack to run a full 5v 16mhz arduino. If youre not running the arduino off of the isobot's batteries, id recommend you go 16mhz 328 just cuz thats the newest and most compatible. Actually id recommend a 328 anyway just so you have the program space.
I think I will buy the Arduino Pro Mini 328 - 5V/16MHz and the FTDI Basic Breakout 5V.
Ok, then I need two small LiPo batteries and a 5V voltage regulator but it will be easier with external sensors. Most of them are using 5V too.
So the I-Sobot is walking autonomously with your sensors and program code ?
Can you post any new updates of that code next week please ?
Thanks.
Sure, Id be happy to share any code. It just uses a maxbotix sonar sensor to sense distance forward, head turned left and right and goes whichever way is further away (or closer depending if its in "attack mode") Let me know if/when you get your hardware up and running.
#include <Isobot.h>
#define apin 0 //analog sensor pin
#define ledpin 13 //ir led tx pin
Isobot bot(7);
unsigned long time1, time2;
char dir;
void setup(){
Serial.begin(57600);
Serial.println("Isobot Sonar");
//time1=time2=millis(); //time1=hpcounter time2=sonarcounter
pinMode(13, OUTPUT);
digitalWrite(ledpin, HIGH);
bot.buttonwrite(homeposition, 10);
digitalWrite(ledpin, LOW);
}
void loop(){
dir=lookaround(1); //far
Serial.println(dir);
delay(1000);
switch(dir){
case'l': //walk to direction searched for
digitalWrite(ledpin, HIGH);
bot.buttonwrite(fleft,15);
digitalWrite(ledpin, LOW);
break;
case'r':
digitalWrite(ledpin, HIGH);
bot.buttonwrite(fright,15);
digitalWrite(ledpin, LOW);
break;
case'f':
digitalWrite(ledpin, HIGH);
bot.buttonwrite(forward,20);
digitalWrite(ledpin, LOW);
break;
default:
bot.buttonwrite(clink, 2);
break;
}
delay(1000);
if(analogRead(apin)<15){
bot.buttonwrite(greet2,3);
delay(5000);
}
}
char lookaround(boolean NorF){ //0 for finding nearest direction, 1 for furthest direction
int fdist[5],rdist[5],ldist[5];
int f,r,l;
for (int i=0;i<5;i++){
digitalWrite(ledpin, HIGH);
fdist[i]=analogRead(apin);
digitalWrite(ledpin, LOW);
}
delay(1000);
bot.buttonwrite(headright,3);
for (int i=0;i<5;i++){
digitalWrite(ledpin, HIGH);
rdist[i]=analogRead(apin);
digitalWrite(ledpin, LOW);
}
delay(1500);
bot.buttonwrite(headleft,3);
for (int i=0;i<5;i++){
digitalWrite(ledpin, HIGH);
ldist[i]=analogRead(apin);
digitalWrite(ledpin, LOW);
}
delay(1500);
f=(fdist[0]+fdist[1]+fdist[2]+fdist[3]+fdist[4])/5;
r=(rdist[0]+rdist[1]+rdist[2]+rdist[3]+rdist[4])/5;
l=(ldist[0]+ldist[1]+ldist[2]+ldist[3]+ldist[4])/5;
Serial.println("l\tf\tr");
Serial.print(l);
Serial.print("\t");
Serial.print(f);
Serial.print("\t");
Serial.println(r);
if(NorF==1){ //far
if(f>=l&&f>=r)return 'f';
else if(l>=f&&l>=r)return 'l';
else if(r>=f&&r>=l)return 'r';
}
else { //near
if(f<=l&&f<=r)return 'f';
else if(l<=f&&l<=r)return 'l';
else if(r<=f&&r<=l)return 'r';
}
}
very cool i had just done a very similar mod to a robosapien but instead of an ir led i tapped into the ir line on the robots motherboard it still is fully function with the remote when the arduino is off. i have also mounted a ping in its chest.seems we are after a common goal
I have the Pro Mini and USB connector (like described in my last post) now.
The i-Sobot will be there in about 10 days.
I have copy&pasted your last code into a sketch of the Arduino software and copied the Isobot.h file into the same project directory.
When I verify the code it gives me these errors:
20: error: Isobot.h: No such file or directory In function 'void setup()':
In function 'void loop()':
In function 'char lookaround(boolean)':
What is the problem there please ?
Thank you.
The "blink" example of the software is working on the Arduino board.
Jens
You have to install the Isobot library like any other library. First create a folder named Isobot under the arduino-00xx->hardware->libraries folder then copy the isobot.h, isobot.cpp, and the keywords.txt (which i am about to post-this was a good reminder) with the proper extensions into the Isobot folder. The first time you compile with this library, it will give you an error but thats just it making an object file (arduino glitch). The second time it should be fine.
#######################################
# Syntax Coloring Map For Isobot
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Isobot KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
receivecode KEYWORD2
buttonwrite KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
forward LITERAL1
backward LITERAL1
sideright LITERAL1
sideleft LITERAL1
fleft LITERAL1
fright LITERAL1
bleft LITERAL1
bright LITERAL1
fclockwise LITERAL1
fcounter LITERAL1
bclockwise LITERAL1
bcounter LITERAL1
headleft LITERAL1
headright LITERAL1
leanforward LITERAL1
leanback LITERAL1
lpunch LITERAL1
r12 LITERAL1
lchop LITERAL1
sidechopl LITERAL1
combopunch LITERAL1
rpunch LITERAL1
rchop LITERAL1
l12 LITERAL1
sidechopr LITERAL1
lbackhand LITERAL1
doublechop LITERAL1
doublebackhand LITERAL1
slapping LITERAL1
rbackhand LITERAL1
upperchop LITERAL1
roundhousel LITERAL1
roundhouser LITERAL1
forwardkickl LITERAL1
forwardkickr LITERAL1
sidekickl LITERAL1
roundhouselr LITERAL1
forwardkicklr LITERAL1
combokick LITERAL1
sidekickr LITERAL1
backkickl LITERAL1
backkickr LITERAL1
highkickl LITERAL1
highkickr LITERAL1
splits1 LITERAL1
guardl LITERAL1
guardr LITERAL1
doubleguard1 LITERAL1
doubleguard2 LITERAL1
dodgel LITERAL1
dodger LITERAL1
duck LITERAL1
swayback LITERAL1
upblock LITERAL1
splits2 LITERAL1
comboblock LITERAL1
zero LITERAL1
homeposition LITERAL1
soundoff LITERAL1
affirm LITERAL1
disagree LITERAL1
goodmorning LITERAL1
greet1 LITERAL1
greet2 LITERAL1
greet3 LITERAL1
greet4 LITERAL1
bye1 LITERAL1
bye2 LITERAL1
bye3 LITERAL1
bye4 LITERAL1
bye5 LITERAL1
respect LITERAL1
thanks1 LITERAL1
thanks2 LITERAL1
love1 LITERAL1
love2 LITERAL1
love3 LITERAL1
standupfront LITERAL1
standupback LITERAL1
excited1 LITERAL1
excited2 LITERAL1
excited3 LITERAL1
excited4 LITERAL1
party LITERAL1
amazed LITERAL1
regret1 LITERAL1
regret2 LITERAL1
regret3worry LITERAL1
pain1 LITERAL1
pain2 LITERAL1
beg1 LITERAL1
beg2 LITERAL1
merry LITERAL1
hilarious LITERAL1
hidenseek LITERAL1
youlike LITERAL1
mystery5 LITERAL1
tipsy LITERAL1
tickleme LITERAL1
tiredfeet LITERAL1
needabreak LITERAL1
wave1 LITERAL1
wave2 LITERAL1
applause LITERAL1
mystery6 LITERAL1
toosexy LITERAL1
clink LITERAL1
relax LITERAL1
soccer1 LITERAL1
soccer2 LITERAL1
soccer3 LITERAL1
lift LITERAL1
countonme LITERAL1
articulation LITERAL1
showoff1 LITERAL1
showoff2 LITERAL1
showoff3 LITERAL1
showoff4 LITERAL1
cominthrough LITERAL1
catch LITERAL1
pose1 LITERAL1
pose2 LITERAL1
pose3 LITERAL1
mystery1 LITERAL1
mystery2 LITERAL1
mystery3 LITERAL1
mystery4 LITERAL1
forwardsomersault LITERAL1
headstandexercises LITERAL1
exercises LITERAL1
airdrum LITERAL1
airguitar LITERAL1
randomperformance1 LITERAL1
randomanimal LITERAL1
tropicaldance LITERAL1
giantrobot LITERAL1
western LITERAL1
randomperformance2 LITERAL1
Also remember to change the prescaler in the Isobot.cpp like it says in the comments for use with the 16mhz arduino.
Ok, that has worked now without any object error. Thanks.
I had changed the value to the 16Mhz.
The green LED on the Arduino is now blinking (3x short dimmed green , 1x long green steady). Correct ?
Well, I understand most of your written code and I need to get more into that C language.
#define ledpin 13 //ir led tx pin
I wonder if I can use an IR LED and IR receiver instead of the ultrasound sensor for checking the distance.