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/hexapod.cpp

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+// hexapod.cpp
+
+#ifndef HEX
+#define HEX
+
+#include "Arduino.h"
+#include "hexapod.h"
+
+void hexapod::FireFly()
+{
+  Serial.println("");
+  Serial.println(" ____                     ____    ___                ");
+  Serial.println("/\\  _`\\   __             /\\  _`\\ /\\_ \\               ");
+  Serial.println("\\ \\ \\__  /\\_\\  _ __    __\\ \\ \\__  //\\ \\    __  __    ");
+  Serial.println(" \\ \\  _\\ \\/\\ \\/\\`'__\\/'__`\\ \\  _\\  \\ \\ \\  /\\ \\/\\ \\   ");
+  Serial.println("  \\ \\ \\/  \\ \\ \\ \\ \\//\\  __/\\ \\ \\/   \\_\\ \\_\\ \\ \\_\\ \\  ");
+  Serial.println("   \\ \\_\\   \\ \\_\\ \\_\\\\ \\____\\\\ \\_\\   /\\____\\\\/`____ \\ ");
+  Serial.println("    \\/_/    \\/_/\\/_/ \\/____/ \\/_/   \\/____/ `/___/> \\");
+  Serial.println("                                               /\\___/");
+  Serial.println("                                               \\/__/");
+  Serial.println("");
+  Serial.println("Version 3.1");
+  delay(800);
+  irrecv = new IRrecv((int)5);
+  irrecv->enableIRIn();
+}
+
+int hexapod::GetNewCmd()
+{
+  if (irrecv->decode(&results)) {
+    if (results.value != old.value){
+      if (results.decode_type == RC6) {
+	  #ifdef DEBUG
+        Serial.print("### GetNewCmd->Decoded RC6: ");
+        Serial.println(results.value, HEX);
+		#endif
+        old.value = results.value;
+        rr = false;
+        s = true;
+      }
+      else if (rr != true)
+      {
+	  #ifdef DEBUG
+        Serial.println("### GetNewCmd->Not RC6");
+		#endif
+        rr = true;
+      }
+    }
+    irrecv->resume(); // Receive the next value
+  }
+
+  if (s)
+  {
+    s = false;
+    return results.value;
+  }
+  else return 0;
+}
+
+float microsecondsToCentimeters(float microseconds)
+{
+  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
+  // The ping travels out and back, so to find the distance of the
+  // object we take half of the distance travelled.
+  return microseconds / 29 / 2;
+}
+
+float hexapod::GetUltraSoneDistance()
+{
+  float duration, cm;
+
+  pinMode(PingS, OUTPUT);
+  digitalWrite(PingS, LOW);
+  delayMicroseconds(2);
+  digitalWrite(PingS, HIGH);
+  delayMicroseconds(5);
+  digitalWrite(PingS, LOW);
+
+  pinMode(PingR, INPUT);
+  duration = pulseIn(PingR, HIGH);
+  
+  // convert the time into a distance
+  cm = microsecondsToCentimeters(duration);
+  
+  return cm;
+}
+
+void hexapod::CoreSend(DataObject *Input)
+{
+	//Init
+	Converter Con;
+	InverseKinemetics IK;
+	Servos SSC32;
+	Data *DataLine = new Data;
+
+	//Main
+	DataLine->input(Input);
+	DataLine->WalkTime = 1000;
+
+	IK.IK(DataLine);
+    Con.Convert(DataLine);
+    SSC32.Send(DataLine);
+}
+
+#endif