63 lines
824 B
C
63 lines
824 B
C
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//Data.h Data Structure
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#ifndef DATA
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#define DATA
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#include "Arduino.h"
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#include "hexapod.h"
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#include "Def.h"
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#include "SerD.h"
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// LAYOUT
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// _U_
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// 0==/ \==3
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// >***<
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// 1===|---|===4
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// >***<
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// 2==\___/==5
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struct Data
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{
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//MAIN
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// Pointers to classes
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hexapod FireFly;
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//Watchdog
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boolean Send;
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double LastSendTime;
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int WalkTime;
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int HeadTime; //100
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//Converter
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SerD ServoData[6];
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float HeadAngle;
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int ReadyToSend;
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//IK
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int HeadPosition;
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boolean ReadyToConvert;
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float l3;
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float s;
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//Startup VARIABLES
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Data()
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{
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LastSendTime = 0;
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HeadAngle = 0;
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HeadTime = 100;
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ServoData[0](5, 3, 8);
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ServoData[1](8, 3, 0);
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ServoData[2](5, 3, -8);
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ServoData[3](5, 3, 8);
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ServoData[4](8, 3, 0);
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ServoData[5](5, 3, -8);
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}
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};
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#endif
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