// Ralf Fickert - Inventors:Force Project "Hack the Robosapien V1 for Arduino"

// Date: June 2015

// Email: rfickert@st3am.com
//
// References/Sources:
// ===================
// http://www.aibohack.com/robosap/ir_codes.htm
// Many thanks to this reference I found the most complete list of
// Robosapien V1 hex Codes
//////////////////////////////////////////////////////////////////////
// Hacking - Robosapien V1 - Comprehensive hex command codes
//////////////////////////////////////////////////////////////////////
// LED RED - Just press buttons without using the SELECT - Basic Movement Comman
ds
//
//Variable
HEX-Code
Comment
//---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------//
#define RSTurnRight
- Send command
#define RSRightArmUp
- Send command
#define RSRightArmOut
- Send command
#define RSTiltBodyRight
#define RSRightArmDown
- Send command
#define RSRightArmIn
- Send command
#define RSWalkForward
- Send command
#define RSWalkBackward
- Send command
#define RSTurnLeft
- Send command
#define RSLeftArmUp
- Send command
#define RSLeftArmOut
- Send command
#define RSTiltBodyLeft
#define RSLeftArmDown
- Send command
#define RSLeftArmIn
- Send command
#define RSStop
- Send command

0x80
// turn right
to turn right on the spot
0x81
// right arm up
twice to fully raise arm up
0x82
// right arm out
twice to fully turn arm outwards
0x83
// tilt body right
0x84
// right arm down
twice to fully lower arm down
0x85
// right arm in
twice to fully turn arm inwards
0x86
// walk forward
twice to move forward slowly
0x87
// walk backward
twice to move backwards slowly
0x88
// turn left
to turn left on the spot
0x89
// left arm up
twice to fully raise arm up
0x8A
// left arm out
twice to fully turn arm outwards
0x8B
// tilt body left
0x8C
// left arm down
twice to fully lower arm down
0x8D
// left arm in
twice to fully turn arm inwards
0x8E
// stop
at any time to end a command

// Programming Commands (no shift)

#define RSMasterCMDPRG
0x90
//P (Master Command Program)
- Send command to set Robosapien into program mode - Robosapien beep
s - you can now program up to fourteen steps
//
when 14 steps reached Robosapien will automatically repeat the pro
grammed sequence. If you have less then 14 steps then you need to close

//
the program by sending once the RSProgramPlay command. To clear th
e program and return to the default program send the command RSMasterCMDPRG
//
followed by the command RSProgramPlay. Turning off the Robosapien
will clear any previous set program. The seep (RSSleep) mode will
//
keep Robosapiens memory for up to 2 hours. Please keep this in min
d when writing the code.
#define RSProgramPlay
bottom)

0x91

//P>> (Program Play, the one on the

#define RSRightSensorPRG
0x92
//R>> (Right sensor program)
- Send command to set Robosapien into program mode - Robosapien beep
s - you can now program up to six steps
//
when 6 steps reached Robosapien will automatically repeat the prog
rammed sequence. If you have less then 6 steps then you need to close
//
the program by sending once the RSProgramPlay command.To trigger t
he sensor: touch a long finger, or a toe/heel sensor on the right side.
//
Alternative send command RSExecuteRightSensorPRG. To clear the pro
gram and return to the default program send the command RSLeftSensorPRG
//
followed by the command RSExecuteLeftSensorPRG. Turning off the Ro
bosapien will clear any previous set program. The seep (RSSleep) mode will
//
keep Robosapiens memory for up to 2 hours. Please keep this in min
d when writing the code.
#define RSLeftSensorPRG
0x93
//L>> (Left sensor program) )
- Send command to set Robosapien into program mode - Robosapien beep
s - you can now program up to six steps
//
when 6 steps reached Robosapien will automatically repeat the prog
rammed sequence. If you have less then 6 steps then you need to close
//
the program by sending once the RSProgramPlay command.To trigger t
he sensor: touch a long finger, or a toe/heel sensor on the left side
//
Alternative send command RSExecuteLeftSensorPRG. To clear the prog
ram and return to the default program send the command RSRightSensorPRG
//
followed by the command RSProgramPlay. Turning off the Robosapien
will clear any previous set program. The seep (RSSleep) mode will
//
keep Robosapiens memory for up to 2 hours. Please keep this in min
d when writing the code.
#define RSSonicSensorPRG
0x94
//S>> (Sonic sensor program)
- Send command to set Robosapien into program mode - Robosapien beep
s - you can now program up to six steps
//
when 6 steps reached Robosapien will automatically repeat the prog
rammed sequence. If you have less then 6 steps then you need to close
//
the program by sending once the RSProgramPlay command. To put robo

sapien into SONIC RESPONSE mode send command RSListen. The Robosapien
//
waits now for a sharp sound or tap on his body and then will run t
hrough your programmed routine. To clear the program and return to the default
//
program send the command RSSonicSensorPRG followed by the command
RSProgramPlay . Turning off the Robosapien will clear any previous set program.
//
The seep (RSSleep) mode will keep Robosapiens memory for up to 2 h
ours. Please keep this in mind when writing the code.
//LED GREEN - Press SELECT
#define RSRightTurnStep
- Send command
#define RSRightHandThump
- Send command
#define RSRightHandThrow
- Send command
#define RSSleep
- Send command
e. Send RSStop or RSWakeUp

once - Combination Moves

0xA0
// right turn step
to turn 45 degrees to the right
0xA1
// right hand thump
to lift right arm up and press downwards
0xA2
// right hand throw
to throw object which is in Robosapiens right hand
0xA3
// sleep
to send Robosapiens to sleep. All sensors are inactiv
to wake him up. After 2 hours of
//
uninterrupted sleep the Robosapien will automatically power off.
#define RSRightHandPickUp
0xA4
// right hand pickup
- Send command to let Robosapien pickup object (bucket) next to his
right foot.
#define RSLeanBackward
0xA5
// lean backward
- Send command to let Robosapien lean backwards and to open his arms
#define RSForwardStep
0xA6
// forward step
- Send command to let Robosapien take two steps forward
#define RSBackwardStep
0xA7
// backward step
- Send command to let Robosapien take two steps backwards
#define RSLeftTurnStep
0xA8
// left turn step
- Send command to turn 45 degrees to the left
#define RSLeftHandThump
0xA9
// left hand thump
- Send command to lift left arm up and press downwards
#define RSLeftHandThrow
0xAA
// left hand throw
- Send command to throw object which is in Robosapiens left hand
#define RSListen
0xAB
// listen
- Send command to set Robosapien into listen mode - Robosapien respo
nds to a sound or tap on his body with a default grunt, or a Sonnic Sensor Progr
am
//
sequent as programmed by you.
#define RSLeftHandPickUp
0xAC
// left hand pickup
- Send command to let Robosapien pickup object (bucket) next to his
left foot.
#define RSLeanForward
0xAD
// lean forward
- Send command to let Robosapien lean forward and to close his arms
#define RSReset
0xAE
// reset
- Send command to reset Robosapien to his default positions
#define RSExecuteMasterPRG
0xB0
// execute master command program
- Send command to play program routine.
#define RSWakeUp
0xB1
// wakeup
- Send command to wakeup Robosapien. Robosapien goes through his wak
eup routine.
#define RSExecuteRightSensorPRG 0xB2
// right sensor program execute
- Send command to play right sensor routine
#define RSExecuteLeftSensorPRG
0xB3
// left sensor program execute
- Send command to play left sensor routine

#define RSExecuteSonicPRG
0xB4
// sonic sensor program execute
- Send command to play left sensor routine
// LED ORANGE Press SELECT twice - Combination Move
#define RSRightHandStrike3
0xC0
// right hand strike 3
- Send command to perform an outside strike with the right hand
#define RSRightHandSweep
0xC1
// right hand sweep
- Send command to knock things forward with a sweeping right arm and
waist action
#define RSBurp
0xC2
// burp
- Send command to burp ;-)
#define RSRightHandStrike2
0xC3
// right hand strike 2
- Send command to perform an open right hand strike with a powerful
Hoy-hah oOOo
#define RSHigh5
0xC4
// high 5
- Send command to let Robosapien strech up on the right side for a b
ig high 5 and to say Aaay
#define RSRightHandStrike1
0xC5
// right hand strike 1
- Send command to perform an inside strike with the right hand with
a Hi-yah
#define RSBulldozer
0xC6
// bulldozer
- Send command to push forward 8 steps
#define RSFart
0xC7
// oops
- Send command to let Robosapien fart ;-)
#define RSLeftHandStrike3
0xC8
// left hand strike 3
- Send command to perform an outside strike with the left hand
#define RSLeftHandSweep
0xC9
// left hand sweep
- Send command to knock things forward with a sweeping left arm and
waist action
#define RSWhistle
0xCA
// whistle
- Send command to let Robosapien do a wolf whistle ;-)
#define RSLeftHandStrike2
0xCB
// left hand strike 2
- Send command to perform an open left hand strike with a powerful H
oy-hah oOOo
#define RSTalkBack
0xCC
// talkback
- Send command to let Robosapien Grunt and gestures ;-)
#define RSLeftHandStrike1
0xCD
// left hand strike 1
- Send command to perform an inside strike with the left hand with a
Hi-yah
#define RSRoar
0xCE
// roar
- Send command to let Robosapien lift both arms and roar
#define RSAllDemo
0xD0
// All Demo
- Send command to let Robosapien execute all 3 pre-programmed demos
(Demo 1, Demo 2 and Dance)
#define RSPowerOff
0xD1
// Power Off
- Send command to power off completely the Robosapien.Drop snow-glob
e and say "Rosebud" - On/Off Button is required to turn him on again.
#define RSDemo1
0xD2
// Demo 1
- Send command to let Robosapien do Karate chopping
#define RSDemo2
0xD3
// Demo 2
- Send command to show off attitudw
#define RSDance
0xD4
// Dance
- Send command to let Robosapien show that he go the moves ;-)