FireFly 2012: the robot code as an Arduino library 'hexapod' (v3.1): IK, SSC-32, IR, ultrasonic, GPS, 7-segment

From Electronics\Hexapod\Arduino library 2012.

2011-firefly-mega-ssc32/firmware/2012-library/hexapod/Converter.cpp

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+// Converter.cpp
+//  V3.0
+
+#include "Converter.h"
+
+void Converter::setup()
+{
+  //Serial.begin(9600);
+}
+
+int ConverttoMS(int Position, int low, int high)
+{
+  int tmp = ( Position * ( ( high - low ) / 180 ) );
+  return low + tmp;
+}
+
+void ConvertServos(struct Data *DataLine)
+{
+  for (int i=0; i<6; i++)
+  {
+    DataLine->ServoData[i].t1 = ConverttoMS(DataLine->ServoData[i].o1, smin0, smax0);
+    DataLine->ServoData[i].t2 = ConverttoMS(DataLine->ServoData[i].o2, smin1, smax1);
+    DataLine->ServoData[i].t3 = ConverttoMS(DataLine->ServoData[i].o3, smin2, smax2);
+  }
+
+#ifdef DEBUGS
+  for (int i=0; i<6; i++)
+  {
+    if (i != 0)
+      Serial.print(", ");
+    else
+      Serial.print("### Servos->mSend ServosAngles Are: ");
+
+    Serial.print(DataLine->ServoData[i].o1);
+    Serial.print(", ");
+    Serial.print(DataLine->ServoData[i].o2);
+    Serial.print(", ");
+    Serial.print(DataLine->ServoData[i].o3);
+  }
+  Serial.println(";");
+#endif
+}
+
+void Converter::ConvertHead(struct Data *DataLine)
+{
+  DataLine->HeadPosition = ConverttoMS((90 + DataLine->HeadAngle), smin3, smax3);
+
+#ifdef DEBUGC
+  Serial.print("### Converter->HeadPosition is: ");
+  Serial.println(DataLine->HeadPosition);
+#endif
+}
+
+void Converter::Convert(Data *DataLine)
+{
+#ifdef DEBUGC
+  Serial.println("### Converter->Converter ###");
+#endif
+
+  ConvertServos(DataLine);
+}
+
+