599 Menlo Drive, Suite 100 Rocklin, California 95765, USA Office: (916) 624-8333 Fax: (916) 624-8003

General: [email protected] Technical: [email protected] Web Site: www.parallaxinc.com Educational: www.stampsinclass.com

Parallax BOE-Bot Speech Board (#27975) Introduction The BOE-Bot Speech Board provides a simple method of adding speech1 and sound effects to your BOEBot. It also provides a method of playing Stamp-generated sounds; alone or with speech and sound files stored in the Speech Board. Control is very simple through a single-wire serial interface and the 300 mW amplifier provides plenty of sound for your projects.

Features Attaches directly to BOE-Bot through the AppMod interface. Simple serial control - Access up to 240 speech/sound files - Can play single files or a string of up to 40 files - Set volume to one of eight levels - Enable/Disable audio mixing of Stamp-generated sounds - Can record and playback special user message – separate from standard sound files - Set sampling rate to manage storage space or for voice effects 300 milliwatt amplifier Can be reprogrammed2 through the onboard microphone or by downloading audio files using the QV300S2 software.

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• •

Packing List The Parallax BOE-Bot Speech Board (#27975) package should include the following components (demo source code can be downloaded from www.parallaxinc.com): • • • • • • • •

1 2

Documentation (these pages) BOE-Bot Speech Board 2x10 AppMod extension socket (4) 1-¼" 4-40 screw (4) ¼" 4-40 screw (4) ½" round stand-off (4) 1" round stand-off Parallax screwdriver

Prerecorded speech. Use caution as the factory programmed speech provides the highest quality.

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

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Setting Up Follow these steps to attach the Parallax BOE-Bot Speech Board to your BOE-Bot: 1. Clear any program currently in the BASIC Stamp on your BOE-Bot. All pins should be made inputs (Dirs = 0). 2. Disconnect the power source from your BOE-Bot. 3. Partial disassembly of the BOE-Bot is required to mount the Speech Board: a. wheels b. servo motors c. four screws that secure the BOE to the hex stand-offs d. four hex stand-offs and screws 4. From bottom-to-top, thread each 1-¼" 4-40 screw through the BOE-Bot chassis at the BOE stand-off mounting points. Secure each screw with a ½" aluminum stand-off. 5. Reinstall servo motors and wheels. 6. Slide the BOE onto the four screws and secure with four 1" aluminum stand-offs. 7. Connect servo motors to BOE. 8. Install the 2x10 AppMod socket extension. 9. Plug BOE-Bot Speech Board into the AppMod socket extension. The Speech Board speaker should face the front of the BOE-Bot. 10. Secure the Speech Board with four ¼" 4-40 screws. 11. Reconnect power to your BOE-Bot. The Speech Board is now ready for testing. Example code with programming explanations are shown on the following pages. Source code for each of these projects is available for download www.parallaxinc.com. Figure 1: Stand-off Installation and completed Speech Board

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How It Works The BOE-Bot Speech Board works by playing stored (in an ISD ChipCorder®) speech and sound files through the onboard amplifier and speaker. The Speech Board controller allows the selection of the file to play, as well as the volume level and mix mode if desired. All communications take place at 2400 baud. The serial connection (pin 11) also serves as a busy indicator. Most commands to the Speech Board require only one byte; a few require an additional onebyte parameter (i.e., volume level). The serial commands for the BOE-Bot Speech Board are explained below. Set Direct Play Mode ($F0) This is the default mode of the BOE-Bot Speech Board. After setting this mode, a sound file can be played by passing its file number (0 to 239). Open String ($F9), Close String ($FA), Play String ($FB) The Speech Board can store and play up to 40 speech files without breaks or delays in between. Before this occurs, the file numbers must be downloaded to the Speech Board string buffer. The process for storing and playing a string of speech files is as follows: 1. 2. 3. 4.

Send Send Send Send

Open String command ($F9) speech files (up to 40) in desired order of play. Close String command ($FA) Play String command ($FB)

Note that the string will remain in the Speech Board memory until reset or replaced with another string. The Speech Board can also be switched back to direct play mode without affecting the contents of the string buffer. Set Volume ($FC) This command allows the Speech Board volume to be set to one of eight levels. The byte that follows the Set Volume command is the volume level (0 [muted] to 7). Mix On ($F1) and Mix Off ($F3) The Mix On command enables Stamp-generated sounds (using FREQOUT and DTMFOUT) to be played through the Speech Board amplifier and speaker. Stamp-generated sounds must be output from pin 10. The Mix Off command disables the mixer input. Record User Message ($F7), Play User Message ($F5) The BOE-Bot Speech Board reserves a 15-second segment of memory that can be recorded under program control. Once initiated, the recording of the user message will automatically terminate after 15 seconds or on receipt of a $00. The user message is stored in non-volatile memory and can be played at any time. When the Record User Message command is sent, the onboard LED will flash three times, then stay on. The flashing LED allows a user to prepare. Recording takes place while the LED remains on.

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Stop Playback ($F6) The Stop Playback command works for any playback function. Set Sampling Rate ($F2) The standard sampling rate of the BOE-Bot Speech Board is 8.0 kilohertz. This provides the best quality sound, but the least amount of speech/sound/user message storage space (about 4 minutes). To increase the storage space for sound files, the sampling rate can be lowered. Note that lower sampling rates will result in lower quality sound. The sampling rate change can also be used for speech and sound affects. For example, the pitch of a sound can be increased by recording it at a low sampling rate (i.e., 4.0 kHz) and playing it back at a higher rate (i.e., 8.0 kHz). The Set Sampling Rate command is followed by the rate parameter. The table below shows the available sampling rates and storage capacity (speech files and user message) for each rate: $00 $01 $02 $03

8.0 6.4 5.3 4.0

kHz kHz kHz kHz

sampling sampling sampling sampling

rate; rate; rate; rate;

4 5 6 8

minutes minutes minutes minutes

storage storage storage storage

capacity capacity capacity capacity

Sleep ($F8) This command shuts off the Speech Board amplifier, the ISD ChipCorder® and puts the controller in a low-power state. To restore normal operations, send any serial byte and wait at least 50 milliseconds for the system to restart. Reset ($FD) This command performs a software reset of the Speech Board and restores default. Reset can also be used to clear the string buffer.

Direct Recording Note : Using this procedure will erase the professionally recorded vocabulary stored in the BOE-Bot Speech Board. You must use PC Recording (below) to restore the standard vocabulary. You can record directly to the BOE-Bot Speech Board through the onboard microphone. This is accomplished by setting the Recording Mode switch toward S1. Press S1 and speak toward the microphone. Release S1 and repeat this process for as many phrases as you want to record. When finished, return the Recording Mode switch to the RS-232 position. You must record all phrases in one session.

PC Recording For the best quality recording, it is recommended that you use the Quadravox QV300s2 software (available for download from Parallax or Quadravox). Using this software allows the BOE-Bot Speech Board to be programmed with speech and sound audio files. Set the QV300s2 software to QV356 for the BOE-Bot Speech Board.

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Demonstration Program 1 This program shows how to play standard speech files, how to create and play compound phrases with the speech buffer and how to use the mixer mode to play Stamp-generated sounds. This program uses the DEBUG window to provide a menu. Note: Vocabulary constants have been removed from this listing. ' ============================================================================== ' ' File...... QV356_SPEECH.BS2 ' Purpose... QV356M4 Speech & Sound Demonstration ' Author.... Parallax ' E-mail.... [email protected] ' Started... ' Updated... 01 MAY 2002 ' ' {$STAMP BS2} ' ' ============================================================================== ' -----------------------------------------------------------------------------' Program Description ' -----------------------------------------------------------------------------' This program demonstrates the basic speech and sound capabilities of the ' QV356M4 BOE-Bot Speech Board. ' -----------------------------------------------------------------------------' Revision History ' -----------------------------------------------------------------------------' -----------------------------------------------------------------------------' I/O Definitions ' -----------------------------------------------------------------------------Term_SIO QV_SIO QV_Busy Mix_Out

CON CON VAR CON

16 11 In11 10

' ' ' '

DEBUG terminal I/O serial I/O for QV356 high when QV356 is busy output to QV356 mixer

' -----------------------------------------------------------------------------' Constants ' -----------------------------------------------------------------------------QV_Direct QV_MixOn QV_SetRate QV_MixOff QV_Record QV_PlayUsr QV_Stop QV_RecUsr QV_Sleep QV_OpenStr

CON CON CON CON CON CON CON CON CON CON

$F0 $F1 $F2 $F3 $F4 $F5 $F6 $F7 $F8 $F9

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

' ' ' ' ' ' ' ' ' '

play mode enable mix of pin 10 sounds set sample rate (0..3) disable mix of pin 10 sounds record mode (do not use) play user message stop playback record user message power down open string

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QV_CloseStr QV_PlayStr QV_Volume QV_Reset

CON CON CON CON

$FA $FB $FC $FD

' ' ' '

close string play string set volume (0..7) software reset

QV_80k QV_64k QV_53k QV_40k

CON CON CON CON

$00 $01 $02 $03

' ' ' '

QV_RecOn QV_RecOff

CON CON

$01 $00

' start recording ' stop recording

N2400 T9600

CON CON

16780 84

' 2400-8-N-1, inverted (QV356) ' 9600-8-N-1 (matches DEBUG)

MoveTo LF ClrRt ClrDown

CON CON CON CON

2 10 11 12

' ' ' '

Std_Volume

CON

5

' good volume for QV356

-

8.0 6.4 5.3 4.0

kHz (best quality) kHz kHz kHz

move cursor to x,y line feed clear to right clear down

' -----------------------------------------------------------------------------' QV356M4 Standard Vocabulary ' -----------------------------------------------------------------------------LastPhrase

CON

219

' -----------------------------------------------------------------------------' Variables ' -----------------------------------------------------------------------------response qvData idx eeAddr freq

VAR VAR VAR VAR VAR

Word Byte Byte Word Word

' ' ' ' '

menu response data for module loop counter ee address of word tone for sound fx

' -----------------------------------------------------------------------------' EEPROM Data ' -----------------------------------------------------------------------------Sent1 Sent2 Sent3 Sent4 Sent5

DATA DATA DATA DATA DATA

_calibrating, _primary, _sensors, $FF _all, _systems, _functioning, _properly, $FF _attempting, _to, _locate, _objects, $FF _turning, _to, _track, _moving, _target, $FF _object, _30, _9, _located, $FF

' -----------------------------------------------------------------------------' Initialization ' -----------------------------------------------------------------------------Initialize: PAUSE 250 DEBUG CLS DEBUG "Initializing QV356M4", CR SEROUT QV_SIO, N2400, [QV_Reset] PAUSE 100

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

' let DEBUG open ' reset sound board ' required -- do not change

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SEROUT QV_SIO, N2400, [QV_Volume, Std_Volume] ' set initial volume ' -----------------------------------------------------------------------------' Program Code ' -----------------------------------------------------------------------------Main: DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG

CLS "===========================================", CR " QV356M4 BOE-Bot Speech Board Demonstration ", CR "===========================================", CR CR "[1] Play Selected Vocabulary Word", CR "[2] Sentence Demonstration Using String Buffer", CR "[3] Mixer demo -- Plays Sounds from Stamp", CR CR "--> "

SERIN Term_SIO, T9600, [response] PAUSE 500 LOOKDOWN response, ["123"], response BRANCH response, [Vocab, Sentences, Mixer] GOTO Main Vocab: DEBUG CLS DEBUG "QV356M4 Vocabulary Demonstration", CR, CR SEROUT QV_SIO, N2400, [QV_Direct] PAUSE 5 DEBUG "Enter phrase # (999 to Exit) -> " SERIN Term_SIO, T9600, [DEC response] IF (response = 999) THEN Main IF (response > LastPhrase) THEN Vocab qvData = response GOSUB Say_Word GOSUB Wait_Until_Not_Busy GOTO Vocab

' reset direct file mode ' get phrase # ' check for quit value ' check for in range

Sentences: DEBUG CLS DEBUG "QV356M4 Queuing Demonstration", CR DEBUG "-- sentences are stored in DATA table", CR, CR FOR idx = 1 TO 5 ' get sentence address LOOKUP (idx - 1), [Sent1, Sent2, Sent3, Sent4, Sent5], eeAddr DEBUG MoveTo, 0, 3, "Sentence #", DEC idx GOSUB Say_Sentence GOSUB Wait_Until_Not_Busy PAUSE 1000 NEXT GOTO Main Mixer: DEBUG CLS DEBUG "QV356 Mixer Demonstration", CR DEBUG "-- sounds are generated by BASIC Stamp", CR, CR

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

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SEROUT QV_SIO, N2400, [QV_MixOn] PAUSE 5 SEROUT QV_SIO, N2400, [QV_Volume, 6] PAUSE 5 DEBUG "Dial tone", CR FREQOUT Mix_Out, 35, 35 PAUSE 100 FREQOUT Mix_Out, 2000, 350, 440 DEBUG "Dialing", CR DTMFOUT Mix_Out, [1,9,1,6,6,2,4,8,3,3,3] DEBUG " - ringing", CR FOR idx = 1 TO 2 FREQOUT Mix_Out, 2000, 440, 480 PAUSE 4000 NEXT DEBUG "Howler -- watch out!!!",CR FOR idx = 1 TO 4 FREQOUT Mix_Out, 1000, 1400, 2060 FREQOUT Mix_Out, 1000, 2450, 2600 NEXT DEBUG "1950's Sci-Fi Computer", CR FOR idx = 1 TO 50 RANDOM freq freq = freq // 2500 FREQOUT Mix_Out, 50, freq PAUSE 100 NEXT

' enable Stamp sounds ' crank up volume

' "click" ' combine 350 Hz & 440 Hz ' "call" Parallax

' combine 440 Hz and 480 Hz

' combine 1400 Hz and 2060 Hz ' combine 2450 Hz and 2600 Hz

' ' ' ' '

run about 5 seconds create random note don't let note go to high play it short pause between notes

DEBUG "Spaceship Transporter" FOR freq = 5 TO 5000 STEP 5 FREQOUT Mix_Out, 10, freq, freq */ 323 NEXT DEBUG " - with QV356 voice", CR SEROUT QV_SIO, N2400, [QV_Volume, 3] PAUSE 5 qvData = _will_i_dream GOSUB Say_Word FOR freq = 5000 TO 5 STEP 25 FREQOUT Mix_Out, 10, freq NEXT

' frequency sweep up ' simple chord (1st + 3rd)

' lower volume for mix ' say word with sound ' frequency sweep down ' single note

INPUT Mix_Out ' float Stamp sound pin SEROUT QV_SIO, N2400, [QV_MixOff] ' turn mixer off PAUSE 5 SEROUT QV_SIO, N2400, [QV_Volume, Std_Volume] ' reset volume PAUSE 5 GOTO Main END

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

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' -----------------------------------------------------------------------------' Subroutines ' -----------------------------------------------------------------------------' ' ' '

**************************************************** Makes serial line an input and checks for Busy state -- this line will be low when not busy ****************************************************

Wait_Until_Not_Busy: INPUT QV_SIO IF QV_Busy THEN Wait_Until_Not_Busy RETURN ' ' ' ' '

' make comm an input ' wait until busy goes low

************************************ Say a single word -- make sure QV356 is in Direct Mode before calling this routine ************************************

Say_Word: GOSUB Wait_Until_Not_Busy IF (qvData > LastPhrase) THEN Say_Word_Exit SEROUT QV_SIO, N2400, [qvData]

' say only valid words ' say word

Say_Word_Exit: RETURN ' ' ' ' '

************************************** Say a sentence -- point to sentence in EE with eeAddr -- limit is 40 words (no checking) **************************************

Say_Sentence: GOSUB Wait_Until_Not_Busy SEROUT QV_SIO, N2400, [QV_OpenStr] PAUSE 5 Get_Word: READ eeAddr, qvData IF (qvData = $FF) THEN Play_Buffer IF (qvData > LastPhrase) THEN Get_Word SEROUT QV_SIO, N2400, [qvData] PAUSE 5 eeAddr = eeAddr + 1 GOTO Get_Word Play_Buffer: SEROUT QV_SIO, N2400, [QV_CloseStr] PAUSE 5 SEROUT QV_SIO, N2400, [QV_PlayStr]

' open string buffer

' ' ' '

read word from sentence data sentence done? no -- is word valid? yes, send word to buffer

' increment word address ' get next word ' close string buffer ' play the buffer

Say_Sentence_Exit: RETURN

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

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Demonstration Program 2 This program shows how to change the sampling rate and record and playback the user message. This demo will also play a sentence from the standard vocabulary (recorded at 8 kHz) to demonstrate the audio changes with the various sampling rates. This program uses the DEBUG window to provide a menu. Note: Vocabulary constants have been removed from this listing. ' ============================================================================== ' ' File...... QV356_SRATE.BS2 ' Purpose... QV356M4 Sampling/Playback Rate Demonstration ' Author.... Parallax ' E-mail.... [email protected] ' Started... ' Updated... 01 MAY 2002 ' ' {$STAMP BS2} ' ' ============================================================================== ' -----------------------------------------------------------------------------' Program Description ' -----------------------------------------------------------------------------' This program demonstrates the controlled recording a playback capability of ' the QV356 BOE-Bot Speech Board. ' -----------------------------------------------------------------------------' Revision History ' -----------------------------------------------------------------------------' -----------------------------------------------------------------------------' I/O Definitions ' -----------------------------------------------------------------------------Term_SIO QV_SIO QV_Busy Mix_Out

CON CON VAR CON

16 11 In11 10

' ' ' '

DEBUG terminal I/O serial I/O for QV356 high when QV356 is busy output to QV356 mixer

' -----------------------------------------------------------------------------' Constants ' -----------------------------------------------------------------------------QV_Direct QV_MixOn QV_SetRate QV_MixOff QV_Record QV_PlayUsr QV_Stop QV_RecUsr QV_Sleep

CON CON CON CON CON CON CON CON CON

$F0 $F1 $F2 $F3 $F4 $F5 $F6 $F7 $F8

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

' ' ' ' ' ' ' ' '

play mode enable mix of pin 10 sounds set sample rate (0..3) disable mix of pin 10 sounds record mode play user message stop playback record user message power down

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QV_OpenStr QV_CloseStr QV_PlayStr QV_Volume QV_Reset

CON CON CON CON CON

$F9 $FA $FB $FC $FD

' ' ' ' '

open string close string play string set volume (0..7) software reset

QV_80k QV_64k QV_53k QV_40k

CON CON CON CON

$00 $01 $02 $03

' ' ' '

QV_RecOn QV_RecOff

CON CON

$01 $00

' start recording ' stop recording

N2400 T9600

CON CON

16780 84

' 2400-8-N-1, inverted (QV356) ' 9600-8-N-1 (matches DEBUG)

MoveTo LF ClrRt ClrDown

CON CON CON CON

2 10 11 12

' ' ' '

Std_Volume

CON

4

' good volume for QV356

-

8.0 6.4 5.3 4.0

kHz (best quality) kHz kHz kHz

move cursor to x,y line feed clear to right clear down

' -----------------------------------------------------------------------------' QV356M4 Standard Vocabulary ' -----------------------------------------------------------------------------LastWord

CON

219

' -----------------------------------------------------------------------------' Variables ' -----------------------------------------------------------------------------response qvData idx eeAddr rate rate80 rate64 rate53 rate40

VAR VAR VAR VAR VAR VAR VAR VAR VAR

Byte Byte Byte Word Nib rate.Bit0 rate.Bit1 rate.Bit2 rate.Bit3

' ' ' ' '

menu response data for module loop counter ee address of word current sample rate

' -----------------------------------------------------------------------------' EEPROM Data ' -----------------------------------------------------------------------------Sent1

DATA

_scanning, _operating, _system, _for, _error, $FF

' -----------------------------------------------------------------------------' Initialization ' -----------------------------------------------------------------------------Initialize: PAUSE 250 DEBUG CLS DEBUG "Initializing QV356M4", CR SEROUT QV_SIO, N2400, [QV_Reset] rate80 = 1

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

' let DEBUG open ' reset sound board ' default sample rate

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PAUSE 500 ' required -- do not change SEROUT QV_SIO, N2400, [QV_Volume, Std_Volume] ' set initial volume ' -----------------------------------------------------------------------------' Program Code ' -----------------------------------------------------------------------------Main: DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG DEBUG

CLS "=============================================", CR " QV356M4 Sample / Playback Rate Demonstration ", CR "=============================================", CR CR "[1] 8.0 kHz (", 32 + (rate80 * 10),")", CR "[2] 6.4 kHz (", 32 + (rate64 * 10),")", CR "[3] 5.3 kHz (", 32 + (rate53 * 10),")", CR "[4] 4.0 kHz (", 32 + (rate40 * 10),")", CR "[5] Play Sentence (uses standard vocabulary)", CR "[6] Record User Message", CR "[7] Playback User Message", CR CR "--> "

SERIN Term_SIO, T9600, [response] PAUSE 500 LOOKDOWN response, ["1234567"], response IF (response > 6) THEN Main IF (response < 4) THEN Set_Rate BRANCH (response - 4), [Sentence, Record, Playback] GOTO Main Set_Rate: rate = 1 LastWord) THEN Say_Word_Exit SEROUT QV_SIO, N2400, [qvData]

' say only valid words ' say word

Say_Word_Exit: RETURN ' ' ' ' '

************************************** Say a sentence -- point to sentence in EE with eeAddr -- limit is 40 words (no checking) **************************************

Say_Sentence: GOSUB Wait_Until_Not_Busy SEROUT QV_SIO, N2400, [QV_OpenStr] PAUSE 5

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

' open string buffer

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Get_Word: READ eeAddr, qvData IF (qvData = $FF) THEN Play_Buffer IF (qvData > LastWord) THEN Get_Word SEROUT QV_SIO, N2400, [qvData] PAUSE 5 eeAddr = eeAddr + 1 GOTO Get_Word Play_Buffer: SEROUT QV_SIO, N2400, [QV_CloseStr] PAUSE 5 SEROUT QV_SIO, N2400, [QV_PlayStr]

' ' ' '

read word from sentence data sentence done? no -- is word valid? yes, send word to buffer

' increment word address ' get next word ' close string buffer ' play the buffer

Say_Sentence_Exit: RETURN

Check the Parallax web site for additional BOE-Bot Speech Board programs.

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

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BOE-Bot Speech Board Standard Vocabulary # 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49

Phrase

# zero one two three four five six seven eight nine ten eleven twelve thirteen fourteen fifteen sixteen seventeen eighteen nineteen twenty thirty forty fifty sixty seventy eighty ninety hundred thousand million billion two thousand about accelerate accelerating acquire acquiring activated active aft all am amps area assistance attempted attempting attempts back

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99

Phrase base battery begin bit bits bump byte bytes calibrate calibrating calibration can centimeters charge charging check clean close (verb) close (adjective) closed closing complete connect connecting connection corrupt course dark deactivated deactivating decelerate decelerating decrease decreasing detect detected dirty disabled disabling down empty enabled enabling encoder end error excuse me fail failed fast

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Standard Speech Board Vocabulary (Page 2) # 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149

Phrase

# feet fire flame follow following for forward found full functioning good-bye halt has heat Hello help high I in inches increase increasing infrared input inside is left leg legs light line locate located locating lost low lower main maximum meters method minimum mode motor motors moving my need no not

Parallax, Inc. • BOE-Bot Speech Board (#27975) • 5/2002

150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199

Phrase object objects of okay oops open opening operate operating opponent ouch output outside passed point possible primary probable program (noun) program (verb) proper properly proximity raise ready rear reverse right room run running scan scanning search searching secondary seek seeking sensor sensors servo servos slipping slow slowing sonar stall stalled station stop

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Standard Speech Board Vocabulary (Page 3) # 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219

Phrase stuck subject system systems target to track tracks turn turning uh oh up volts wall wheel wheels whisker Will I dream? word words

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