(Hardware) Legs - simon987/Much-Assembly-Required GitHub Wiki

Articulated spider-like legs. Enables your Cubot to walk on standard surfaces.

Specifications

Manufacturer: 立方電子
Version: 1.0B
Default address: 0x0001
Hardware ID: 0x0001

Interrupt Behavior

Value of A Action Energy cost Result
1 LEGS_SET_DIRECTION 20 kJ Turns the Cubot to face the direction specified in register B.
2 LEGS_SET_DIRECTION_AND_WALK 100 kJ Moves the Cubot to face and walk in the direction specified by register B.

Valid directions

Direction Value
North 0x0000
East 0x0001
South 0x0002
West 0x0003

Notes

  • Only one walk can be performed per tick, the last such LEGS_SET_DIRECTION_AND_WALK in the tick will be the one performed during the tick transition. LEGS_SET_DIRECTION may be performed multiple times during a tick.
  • Since only the last LEGS_SET_DIRECTION_AND_WALK in a tick will be performed, running the action does not immediately use energy, which means that using this action 5 times in one tick will not use 500 kJ and instead consume 100 kJ at the end of the tick. This is not true for LEGS_SET_DIRECTION, which will use energy immediately upon being ran.