22 lines
1.2 KiB
C++
22 lines
1.2 KiB
C++
 
|
// Compiles robot/robot.ino unchanged as part of the simulation, then exposes
|
||
|
|
// read-only views of its globals so the simulation can report robot state
|
||
|
|
// without the robot code having to know it's being simulated.
|
||
|
|
#include "../robot/robot.ino"
|
||
|
|
#include "SimRobotAccess.h"
|
||
|
|
|
||
|
|
namespace simrobot {
|
||
|
|
void setupOnce() { setup(); }
|
||
|
|
void loopOnce() { loop(); }
|
||
|
|
int state() { return (int)state_machine.state(); }
|
||
|
|
float sitStandBlend() { return state_machine.sitStandBlend(); }
|
||
|
|
bool linkOk() { return comms.linkOk(); }
|
||
|
|
float headingDeg() { return current_heading_deg; }
|
||
|
|
float imuRollDeg() { return imu.rollDeg(); }
|
||
|
|
float imuPitchDeg() { return imu.pitchDeg(); }
|
||
|
|
bool imuEnabled() { return imu.enabled; }
|
||
|
|
uint32_t lastLoopMicros() { return last_loop_us; }
|
||
|
|
bool legInStance(int leg) { return gait.legInStance(leg); }
|
||
|
|
float poseReachScale() { return pose.reachScale(); }
|
||
|
|
float twistScale() { return gait.twistScale(); }
|
||
|
|
float stanceHeightMm() { return Kinematics::stanceHeight(); }
|
||
|
|
} // namespace simrobot
|