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Appendix III Head Motion Script File

Here is the sample head motion script file extracted from “yes.xml” that can be found under

C:\DrRobotAppFile\HeadMotionFile\

Note, the servo command values are NOT the absolute servo command value, they are the difference relative to

the servo initial value (initial servo position in servo command are defined in HeadServoConfig.xml).

<HeadServoMotionTable

xmlns="http://tempuri.org/headServoMotionTable.xsd">

<ServoMotionStep>

<Servo1>0</Servo1>

<Servo2>0</Servo2>

<Servo3>0</Servo3>

<Servo4>0</Servo4>

<Servo5>0</Servo5>

<Servo6>0</Servo6>

<Time>1000</Time>

</ServoMotionStep>

<ServoMotionStep>

<Servo1>300</Servo1>

<Servo2>0</Servo2>

<Servo3>0</Servo3>

<Servo4>0</Servo4>

<Servo5>0</Servo5>

<Servo6>0</Servo6>

<Time>1000</Time>

</ServoMotionStep>

(continued…)

<ServoMotionStep>

<Servo1>-600</Servo1>

<Servo2>0</Servo2>

<Servo3>0</Servo3>

<Servo4>0</Servo4>

<Servo5>0</Servo5>

<Servo6>0</Servo6>

<Time>2000</Time>

</ServoMotionStep>

<ServoMotionStep>

<Servo1>600</Servo1>

<Servo2>0</Servo2>

<Servo3>200</Servo3>

<Servo4>0</Servo4>

<Servo5>0</Servo5>

<Servo6>0</Servo6>

<Time>2000</Time>

</ServoMotionStep>

…