Primitive outputs and output sequences

An Asa H/Lego NXT robot is given some initial (innate) primitive outputs like:

turn left                                       turn right
move forward                             move in reverse
grip                                            rotate hand cw
rotate hand ccw                         lift arm
drop                                          extend arm
retract arm                                 phonemes
seek-find-dock-recharge          
lens aperture adjust                    diskcopy self
etc.

 Longer sequences can then be built up from combinations of the initial primitives.  A "Waldo" can be used to input new "primitives" later if needed.

Some of these sequences involve feedback.  An example would be the dock and recharge code below (from Parallax for use with the BASIC stamp):