The Maestro Servo Controller script file to control the skull movements (nod, tilt, turn, eye movement) for the Alexa Yorick project (https://www.mcgurrin.info/robots/409/)

YorickMaestro.txt

begin
  9 get_position # get the value of the red trigger, 0-255
  155 greater_than # test whether it is greater than 155 -> 1 if true, 0 if false
  if
	    wake
    750 delay
    1 # flag for getting out of loop
    begin
      dup
      while
      9 get_position
      10 get_position
      plus
      300 greater_than
      if         
        think
      else
        9 get_position
        155 greater_than
        if
          answer
        else
          10 get_position
          155 greater_than
          if
            listen
          else
			Rest
            1 minus
          endif
        endif
      endif 
    repeat
  endif
repeat

### Sequence subroutines: ###

# Answer
sub Answer
  500 384 4613 4811 6172 0 6253 
  0 0 0 0 frame_0..8_11 # Frame 0
  500 6054 5193 frame_2_5 # Frame 1
  500 7293 4032 frame_2_5 # Frame 2
  500 5923 4920 frame_2_5 # Frame 3
  1000 5695 6065 frame_3_5 # Frame 4
  500 4595 frame_5 # Frame 5
  500 6075 6075 frame_1_3 # Frame 6
  500 4705 frame_1 # Frame 7
  1000 4613 6172 4920 frame_1_3_5 # Frame 3
  500 5695 6065 frame_3_5 # Frame 4
  1000 4595 frame_5 # Frame 5
  500 6075 6075 frame_1_3 # Frame 6
  1000 4705 frame_1 # Frame 7
  return
# Listen
sub Listen
  1500 384 4476 6532 5486 0 4373 
  6000 0 0 0 frame_0..8_11 # Frame 2
  500 6334 6306 frame_2_3 # Frame 3
  return
# Rest
sub Rest
  500 384 7354 5892 5978 0 5860 
  0 0 0 0 frame_0..8_11 # Frame 0
  return
# Think
sub Think
  1000 384 5435 5892 5344 0 5193 
  0 0 0 0 frame_0..8_11 # Frame 0
  1000 6687 frame_3 # Frame 1
  500 6288 5978 frame_1_3 # Frame 2
  500 6608 frame_1 # Frame 9
  500 4948 5860 frame_1_5 # Frame 10
  500 6608 5193 frame_1_5 # Frame 9
  500 4948 5860 frame_1_5 # Frame 10
  500 6608 5193 frame_1_5 # Frame 9
  500 4948 5860 frame_1_5 # Frame 10
  return
# Wake
sub Wake
  500 384 5101 5920 6148 0 4664 
  6000 0 0 0 frame_0..8_11 # Frame 1
  return

sub frame_0..8_11
  11 servo
  8 servo
  7 servo
  6 servo
  5 servo
  4 servo
  3 servo
  2 servo
  1 servo
  0 servo
  delay
  return

sub frame_2_5
  5 servo
  2 servo
  delay
  return

sub frame_3_5
  5 servo
  3 servo
  delay
  return

sub frame_5
  5 servo
  delay
  return

sub frame_1_3
  3 servo
  1 servo
  delay
  return

sub frame_1
  1 servo
  delay
  return

sub frame_1_3_5
  5 servo
  3 servo
  1 servo
  delay
  return

sub frame_2_3
  3 servo
  2 servo
  delay
  return

sub frame_3
  3 servo
  delay
  return

sub frame_1_5
  5 servo
  1 servo
  delay
  return