[AiboHack - Boneyard] RoboSapien V2 IR Codes (for WowWee toys aft... http://www.aibohack.com/robosap/ir_codes_v2.

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RoboSapien V2 IR Codes (for WowWee toys after RSV1)

The V2 modulation scheme is similar to the RoboSapien V1 IR Codes, but longer. The IR Carrier is 39.2kHz. Data is modulated using a
space coded signal with 12 data bits (data clock is 1200Hz, but actual data rate varies depending on the data). The V1 format is only 8
data bits.

For modulating the signals yourself, the signal looks something like this:
Timing based on 1/1200 second clock (~.833ms)
Signal is normally high (idle, no IR).
Start: signal goes low for 8/1200 sec.
Data bits: for each of 12 data bits, space encoded signal depending on bit value
Sends the most significant data bit first
If the data bit is 0: signal goes high for 1/1200 sec, and low for 1/1200 sec.
If the data bit is 1: signal goes high for 4/1200 sec, and low for 1/1200 sec.
When completed, signal goes high again.
No explicit stop bit. Minimal between signals is not known.

The first 4 bits (prefix nibble) indicate the robot model:

1: "0001" RoboRaptor. More Info.

2: "0010" RoboPet. More Info.
3: "0011" RoboSapien V2. See below for details.
4: "0100" RoboReptile. More Info.
5: "0101" RS Media. More Info.
6: "0110" RoboQuad. More Info.
7: "0111" RoboBoa. More Info.
F: "FFFF" Sometimes used for testing

RSV2 Codes
Here's are the IR codes for RoboSapien V2 (RSV2) formatted similar to the manual:

L S a b c x y z D R

Sonic Vision Positional Positional Gait

Free Dance Head and
Walking Stop Sensors Systems Program Program Change/
Roam Demo Upper
Un-Shifted On/Off On/Off Entry Play Quick Un-Shifted
Body
$300+DIR $3AA $383 $380 $381 $352 Reset
$382 $350 $320+DIR
$390

Right Right
Right Right Right Right
no-op Reset Right Arm Arm Low Arm High Movement
Arm Arm Arm Arm
Shift1 Throw Pickup Pickup Demo Shift1
Grab Give Roll
$308+DIR $353 $355 $356 $357 $354
$358 $359 $35A $328+DIR
Left Left Lie Down/
no-op Sleep/ Left Arm Arm Low Arm High Left Left Left Sit up/Lie Left Arm
Shift2 Wake Up Throw Pickup Pickup Arm Arm Arm Down Shift2
$3C0+DIR $386 $35C $35D $35E Grab Give Roll Stand up $330+DIR

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$35F $360 $361 $351

Right Left Left Left

no-op Get Up Right Kick Right Push Oops Hip &
Chop Chop Push Kick
Shift3 Waist Tilt Shift3
$3C8+DIR $364 $362 $365 $35B $340+DIR
$366 $367 $368 $363

Both
no-op
Clear Sound Vision Main Perform Guard Clear High 5
Arms
Shift1+2 Program Program Program Program Program Mode Entry Shift1+2
$3D0+DIR $3F4 $3F1 $3F0 $3F5 $3F6 $3F2 $3F3 $369
$338+DIR

Head
no-op
Bulldozer Laugh Insult Right Arm Left Arm Plan Spare Hey Baby
Only
Shift1+3 Forward Drop Drop Change Shift1+3
$3D8+DIR $36A $36C $36D $36E $36F $370 $371 $36B
$348+DIR

Calm Head and

no-op
Bulldozer Roar Diode Fetch Danger Hug Burp
Down Upper
Shift2+3 Backward Shift2+3
Body
$3E0+DIR $372 $374 $375 $376 $377 $379 $373
$378 $310+DIR
Manual Manual
Manual
Color Color
Robosapien Color Don't Upper
no-op Power Roboraptor Robopet Mode: Mode:
V2 Mode: Press Body
Shift1+2+3 Down Interaction Interaction Indoor Indoor Shift1+2+3
Interaction Daylight Only
$3E8+DIR $384 $387 $388 Yellow White
$385 $389 $37A $318+DIR
$38A $38B

NOTES:

"S" means the stop button

"DIR" is a 3 bit code for one of the the directions on the joystick (L or R)
+0 - Up/Forward
+1 - Down/Backward
+2 - Left
+3 - Right
+4 - Up and Left
+5 - Up and Right
+6 - Down and Left
+7 - Down and Right
When any shift key is held down, the L stick sends different codes (and appear to have no reaction from the robot)
Secret code: $37B - used in robot interaction (see below)
Some keys repeat, and at different rates. You can get an idea of the repeating buttons by looking at how the LED on the remote
flashes.

Tricky IR
"Laser"

The "laser" feature uses the bottom IR LED on the controller to send out a very slowly modulated signal.
The carrier frequency is also 39.2kHz (or 40kHz give or take). Signal is normally off. When you press the "laser" button: IR goes on for
~20ms, followed by ~200ms sec of idle, and then repeats. While in this mode, other IR signals are jammed (eg: obstacle avoidance is
disabled). The green light/LED is for aiming purposes so you can see where the remote is aiming. You can cover up the green light and
it will still track the IR signal (from the bottom IR LED, the one inside the black housing).

Interactions

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DISCLAIMER: I don't have the extra robots to record their controller codes, or the full interactions. Here are the starting part of the
interaction modes (ie. what you can confirm with a single V2 robot).

Roboraptor Interaction: controller sends $387 to RobosapienV2. RobosapienV2 sends roboraptor codes $18E, $187, $192, $193,
$1D1, $1B4, $186 with scripted dialog and delays inbetween (may have some randomness).
Robopet Interaction: controller sends $388 to RobosapienV2. RobosapienV2 sends robopet codes $2E4, $2C4, $2E2, $2C4, $2E4
with scripted dialog and delays inbetween (may have some randomness).
Roboraptor and Robopet interaction are one-way. The RoboSapienV2 will start immediately and perform his part of the script
even if there is no other toy present.

The RobosapienV2 <-> RobosapienV2 interaction is two-way.

RoboSapienV2 Interaction: controller sends $385 to 1st robot. 1st robot says "What a good looking guy" and sends $37B to 2nd
robot. The second robot says "At last intelligent life".
NOTE: that's all I see. If someone gets two V2 robots, please try this out and see if there is more to the skit.

These may be exploited in a very limited fashion for other things.

PSP RoboSapienV2 Remote

The PSP IR remote sample can be easily adapted to use these codes (some programming required). The RSV2 version was never
finished due to lack of interest. Also, because of all the strange shift states, the regular remote works better most of the time.
If interested and you have a Homebrew capable PSP, check out the V1 released program here.

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