To enable easy interfacing for humans as well as machines, a command line interface has been used. The Arduino-CommandLine library has been used.
Below you can find a capture of a command line session with the RoboSapien:
Welcome to minicom 2.7 OPTIONS: I18n Compiled on Feb 7 2016, 13:37:27. Port /dev/ttyACM0, 18:02:16 Press CTRL-A Z for help on special keys > > action 196 > action 197 > action 198 > audio 0 > action 198 > action 197 > action 197 > action 196 > action 195 > audio 1 >
Two commands are implemented "action" and "audio".
The "action" command executes one of the Robosapien standard actions. On a standard Robosapien, you would have used the remote to start these actions. A list of actions can be found in the source code of the RS wedge.
The "audio" command switches the Robosapien's audio source : "0" selects the audio jack as source, which allows the connected laptop to route speech or music to the Robosapien. "1" selects the Robosapien controller as source.