53 lines
2.2 KiB
Arduino
53 lines
2.2 KiB
Arduino
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// Version 1
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#include "Arduino.h"
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#include "CustomTimer.h"
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#include "HexapodClass.h"
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#include "Vector.h"
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#include "Global.h"
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//#include <avr/wdt.h>
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void setup()
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{
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//wdt_enable(WDTO_1S);
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walk1[0] = Vector(12, robotHeigth, 2);
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walk1[1] = Vector(12, robotHeigth, 0);
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walk1[2] = Vector(12, robotHeigth, -2);
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walk1[3] = Vector(12, robotHeigth, -2);
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walk1[4] = Vector(12, robotHeigth - 10, -2);
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walk1[5] = Vector(12, robotHeigth - 10, 0);
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walk1[6] = Vector(12, robotHeigth - 10, 2);
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walk1[7] = Vector(12, robotHeigth, 2);
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Serial.begin(115200);
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Serial1.begin(115200);
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Serial.println("");
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Serial.println(" ____ ____ ___ ");
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Serial.println("/\\ _`\\ __ /\\ _`\\ /\\_ \\ ");
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Serial.println("\\ \\ \\L\\_\\/\\_\\ _ __ __\\ \\ \\L\\_\\//\\ \\ __ __ ");
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Serial.println(" \\ \\ _\\/\\/\\ \\/\\`'__\\/'__`\\ \\ _\\/ \\ \\ \\ /\\ \\/\\ \\ ");
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Serial.println(" \\ \\ \\/ \\ \\ \\ \\ \\//\\ __/\\ \\ \\/ \\_\\ \\_\\ \\ \\_\\ \\ ");
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Serial.println(" \\ \\_\\ \\ \\_\\ \\_\\\\ \\____\\\\ \\_\\ /\\____\\\\/`____ \\ ");
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Serial.println(" \\/_/ \\/_/\\/_/ \\/____/ \\/_/ \\/____/ `/___/> \\");
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Serial.println(" /\\___/");
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Serial.println(" \\/__/ ");
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Serial.println("");
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Serial.println("Version 3.0");
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delay(800);
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}
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void loop()
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{
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// the program is alive...for now.
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//wdt_reset();
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// Rotation calculation, please use transformation matrixes instead.
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//rotationX = ( counterXRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterXRotation % (rotationRange * 2) : rotationRange + (-1 * (counterXRotation % (rotationRange * 2))) );
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//rotationY = ( counterYRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterYRotation % (rotationRange * 2) : rotationRange + (-1 * (counterYRotation % (rotationRange * 2))) );
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//rotationZ = ( counterZRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterZRotation % (rotationRange * 2) : rotationRange + (-1 * (counterZRotation % (rotationRange * 2))) );
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DrawBody();
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}
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