--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mu_code/bot.py	Mon May 15 16:43:11 2017 +0200
@@ -0,0 +1,125 @@
+import microbit
+import radio
+
+class Servo:
+    def __init__(self, pin, trim=0):
+        self.pin = pin
+        self.trim = trim
+        self.position = 90
+        self.set_period()
+
+    def set_period(self):
+        self.pin.set_analog_period(20)
+        self.write(self.position)
+        microbit.sleep(80)
+        self.pin.set_analog_period(20)
+        self.write(self.position)
+        microbit.sleep(80)
+        self.pin.write_analog(0)
+
+    def write(self, degrees):
+        self.pin.write_analog(int(25 + 100 * degrees / 180 + self.trim))
+        self.position = degrees
+
+    def move(self, degrees, delay=8):
+        if degrees > self.position:
+            step = 1
+        else:
+            step = -1
+        for position in range(self.position, degrees, step):
+            self.write(position)
+            microbit.sleep(delay)
+
+
+class Robot:
+    NORMAL_FACE = microbit.Image(
+        "42024\n"
+        "90009\n"
+        "00000\n"
+        "61016\n"
+        "27972\n"
+    )
+    LEFT_FACE = microbit.Image(
+        "24024\n"
+        "09009\n"
+        "00000\n"
+        "81001\n"
+        "28952\n"
+    )
+    RIGHT_FACE = microbit.Image(
+        "42042\n"
+        "90090\n"
+        "00000\n"
+        "10018\n"
+        "25983\n"
+    )
+
+    def __init__(self):
+        self.feet_servo = Servo(microbit.pin2, -2)
+        self.left_servo = Servo(microbit.pin1, 2)
+        self.right_servo = Servo(microbit.pin0, 2)
+        microbit.display.show(self.NORMAL_FACE)
+
+    def right_step(self):
+        microbit.display.show(self.RIGHT_FACE)
+        self.feet_servo.move(130)
+        self.left_servo.move(70)
+        self.right_servo.move(70)
+        self.feet_servo.move(90)
+
+    def left_step(self):
+        microbit.display.show(self.LEFT_FACE)
+        self.feet_servo.move(50)
+        self.right_servo.move(110)
+        self.left_servo.move(110)
+        self.feet_servo.move(90)
+
+    def right_half_step(self):
+        microbit.display.show(self.NORMAL_FACE)
+        self.feet_servo.move(110)
+        self.left_servo.move(90)
+        self.right_servo.move(90)
+        self.feet_servo.move(90)
+
+    def left_half_step(self):
+        microbit.display.show(self.NORMAL_FACE)
+        self.feet_servo.move(70)
+        self.right_servo.move(90)
+        self.left_servo.move(90)
+        self.feet_servo.move(90)
+
+
+    def walk(self, steps=1):
+        step = 0
+        for step in range(steps - 1):
+            if step % 2:
+                self.left_step()
+            else:
+                self.right_step()
+        if step % 2:
+            self.right_half_step()
+        else:
+            self.left_half_step()
+
+
+robot = Robot()
+radio.on()
+left_leg = True
+command = None
+while True:
+    received = None
+    while received is not None:
+        command = received
+        received = radio.receive()
+    if command == 'step':
+        if left_leg:
+            robot.right_step()
+        else:
+            robot.left_step()
+        left_leg = not left_leg
+    elif command == 'stop':
+        if left_leg:
+            robot.right_half_step()
+        else:
+            robot.left_half_step()
+        command = None
\ No newline at end of file