From 0911543c0365aa1a97a7f493e8c0d412fa64dbdc Mon Sep 17 00:00:00 2001 From: MangaValk Date: Tue, 29 May 2012 18:10:16 +0200 Subject: [PATCH] FireFly 2012 v3: later version of May 2012 From Electronics\Hexapod\Arduino sketches 2011-2012\hexapodV3 (backup 2012-07-09). --- .../2012-ir-radar-gps/hexapodV3/Converter.cpp | 5 +---- .../2012-ir-radar-gps/hexapodV3/Converter.h | 1 + .../2012-ir-radar-gps/hexapodV3/Data.h | 7 ------- .../2012-ir-radar-gps/hexapodV3/Def.h | 15 +++++++------- .../hexapodV3/InverseKinemetics.cpp | 10 +--------- .../hexapodV3/InverseKinemetics.h | 6 +----- .../2012-ir-radar-gps/hexapodV3/SerD.h | 4 +++- .../2012-ir-radar-gps/hexapodV3/Servos.cpp | 9 +-------- .../2012-ir-radar-gps/hexapodV3/Servos.h | 7 +------ .../2012-ir-radar-gps/hexapodV3/Ultrasone.cpp | 7 ++++++- .../2012-ir-radar-gps/hexapodV3/Ultrasone.h | 5 +---- .../2012-ir-radar-gps/hexapodV3/Watchdog.cpp | 3 +-- .../2012-ir-radar-gps/hexapodV3/Watchdog.h | 6 +----- .../2012-ir-radar-gps/hexapodV3/hexapodV3.ino | 20 +------------------ 14 files changed, 27 insertions(+), 78 deletions(-) diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Converter.cpp b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Converter.cpp index 5a638d4..0c818cb 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Converter.cpp +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Converter.cpp @@ -1,4 +1,5 @@ // Converter.cpp +// V3.0 #include "Converter.h" @@ -66,8 +67,4 @@ void Converter::Convert(Data *DataLine) DataLine->ReadyToSend = true; } - - - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Converter.h b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Converter.h index e6b4494..06ddd0f 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Converter.h +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Converter.h @@ -1,4 +1,5 @@ // Converter.h +// V3.0 #ifndef CONVERTER_H #define CONVERTER_H diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Data.h b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Data.h index 389d1de..49fe436 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Data.h +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Data.h @@ -60,11 +60,4 @@ struct Data #endif - - - - - - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Def.h b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Def.h index c0f844b..a58ff4f 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Def.h +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Def.h @@ -1,13 +1,14 @@ -//Def.h -//Define some Hard Coded Variables +// Def.h +// Define some Hard Coded Variables +// V3.0 //DEBUG CODES -//#define DEBUGC -//#define DEBUGIK -//#define DEBUGS +//#define DEBUGC // Converter +//#define DEBUGIK // InverseKinemetics +//#define DEBUGS // Servos //#define DEBUGHS // ServosHead -//#define DEBUGW -//#define Freeze +//#define DEBUGW // Watchdog +//#define Freeze // Protect all the servos //InverseKinemetics VARIABLES #define l2 15 diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/InverseKinemetics.cpp b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/InverseKinemetics.cpp index 090c217..9cc988d 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/InverseKinemetics.cpp +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/InverseKinemetics.cpp @@ -1,4 +1,5 @@ #include "InverseKinemetics.h" +// V3.0 //Variables boolean error; @@ -146,13 +147,4 @@ void InverseKinemetics::IK(Data *DataLine) #endif } - - - - - - - - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/InverseKinemetics.h b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/InverseKinemetics.h index 8d4bd16..a4084c9 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/InverseKinemetics.h +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/InverseKinemetics.h @@ -1,4 +1,5 @@ // InverseKinemetics.h +// V3.0 #ifndef inverseKinemetics_H #define inverseKinemetics_H @@ -19,9 +20,4 @@ public: - - - - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/SerD.h b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/SerD.h index dbe9348..a923935 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/SerD.h +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/SerD.h @@ -1,4 +1,6 @@ -//SerD.h +// SerD.h +// V3.0 + #ifndef SERD #define SERD diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Servos.cpp b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Servos.cpp index 3f85f2d..e1994cc 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Servos.cpp +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Servos.cpp @@ -1,4 +1,5 @@ // Servos.cpp +// V3.0 #include "Servos.h" @@ -101,12 +102,4 @@ void Servos::Send(Data *DataLine) } } - - - - - - - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Servos.h b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Servos.h index 6410de4..bd0eba1 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Servos.h +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Servos.h @@ -1,4 +1,5 @@ // Servos.h +// V3.0 #ifndef SERVOS_H #define SERVOS_H @@ -17,10 +18,4 @@ public: #endif - - - - - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Ultrasone.cpp b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Ultrasone.cpp index 4315666..d9b5d9e 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Ultrasone.cpp +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Ultrasone.cpp @@ -1,4 +1,5 @@ //Ultrasone.cpp +// V3.0 #include "Ultrasone.h" @@ -48,7 +49,11 @@ void Ultrasone::GetRadar(Data *DataLine) } - +/* + [Vector] + X = Distance / Cos( CurrentPosition * pi2rad ); + Y = Distance / sin( CurrentPosition / pi2rad ); +*/ diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Ultrasone.h b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Ultrasone.h index 0a921ae..657b90b 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Ultrasone.h +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Ultrasone.h @@ -1,4 +1,5 @@ //Ultrasone.h +// V3.0 #ifndef ULTRASONE_H #define ULTRASONE_H @@ -35,8 +36,4 @@ public: - - - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.cpp b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.cpp index 42e53e7..856777d 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.cpp +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.cpp @@ -1,4 +1,5 @@ // Watchdog.cpp +/ V3.0 #include "Watchdog.h" @@ -34,6 +35,4 @@ void Watchdog::CheckTime(Data *DataLine) } } - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.h b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.h index f509b18..81c1ab8 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.h +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Watchdog.h @@ -1,4 +1,5 @@ // Watchdog.h +/ V3.0 #ifndef WATCHDOG_H #define WATCHDOG_H @@ -16,9 +17,4 @@ public: #endif - - - - - diff --git a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/hexapodV3.ino b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/hexapodV3.ino index cba286d..4f96ddc 100644 --- a/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/hexapodV3.ino +++ b/2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/hexapodV3.ino @@ -1,4 +1,5 @@ // Hexapod FireFly +// V3.0 #include "hexapod.h" #include "Data.h" @@ -190,23 +191,4 @@ void loop() } - - - - - - - - - - - - - - - - - - -