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Understanding the software (cont.)
When the puppy first becomes bored, the code in the [SittingMotion] tab is called. So that the robot does not just
suddenly drop down, the same timer used to measure boredom is used to control the robots sitting speed with the
rear legs slowly straightening at the knee and moving forward at the hips.
Once the robot is sitting the code in the [SitShakeLiedown] tab determines the behavior of the puppy. While in the
sitting position the robot will still track movement with it's head. If the head tracks movement towards either front leg
then that leg will lift so that the puppy can shake hands. If the head tracks movement down and between the legs then
both front legs will lift causing the puppy to lie down.
To break out of the sit, shake, lie down mode the robot must track movement upward causing it's head to tilt straight
up. This will reset the boredom timer and put the puppy back into play mode.
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