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/Data.h

@@ -0,0 +1,58 @@
+//Data.h Data Structure
+
+#ifndef DATA
+#define DATA
+
+#include "Arduino.h"
+#include "Def.h"
+#include "SerD.h"
+
+//    LAYOUT
+//      _U_
+//  0==/   \==3
+//     >***<
+// 1===|---|===4
+//     >***<
+//  2==\___/==5
+
+struct Data
+{
+	int HeadTime;
+	int WalkTime;
+	SerD ServoData[6];
+	float HeadAngle;
+
+	//IK
+	int HeadPosition;
+	float l3;
+	float s;
+
+	//Init
+	Data()
+	{
+		HeadAngle = 0;
+
+		ServoData[0](5, 3, 8);
+		ServoData[1](8, 3, 0);
+		ServoData[2](5, 3, -8);
+		ServoData[3](5, 3, 8);
+		ServoData[4](8, 3, 0);
+		ServoData[5](5, 3, -8);
+	}
+
+	void input (DataObject* R)
+	{
+		ServoData[0] = R->S0;
+		ServoData[1] = R->S1;
+		ServoData[2] = R->S2;
+		ServoData[3] = R->S3;
+		ServoData[4] = R->S4;
+		ServoData[5] = R->S5;
+	}
+
+};
+
+#endif
+
+
+