FireFly library: variant kept in the 2014 GitLab archive

GPS include disabled, out-of-reach flag instead of the 7-segment error. Exact date unknown; dated at the archive's first commit (Feb 2014).

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

@@ -3,6 +3,7 @@
 
 //Variables
 boolean error;
+boolean OOF; // OutOfReach
 
 void RL3 (int i, Data *DataLine)
 {
@@ -72,7 +73,7 @@ float T3 (Data *DataLine)
 
 void setleg (int i, Data *DataLine)
 {
-  Segment Seg;
+  //Segment Seg;
 
   if (i < 3)
   {
@@ -90,8 +91,8 @@ void setleg (int i, Data *DataLine)
     }
     else
     {
-      error = true;
-      Seg.sevenSegWrite('e');
+      OOF = true;
+      //Seg.sevenSegWrite('e');
     }
   }
   else
@@ -110,18 +111,19 @@ void setleg (int i, Data *DataLine)
     }
     else
     {
-      error = true;
-      Seg.sevenSegWrite('e');
+      OOF = true;
+      //Seg.sevenSegWrite('e');
     }
   }
 }
 
 void InverseKinemetics::IK(Data *DataLine)  
 {
-  Segment Seg;
-  Seg.sevenSegWrite('o');
+  //Segment Seg;
+  //Seg.sevenSegWrite('o');
 
   error = false;
+  OOF = false;
 
   for (int i=0; i<6; i++)
     setleg(i, DataLine);
@@ -132,7 +134,7 @@ void InverseKinemetics::IK(Data *DataLine)
     if (i != 0)
       Serial.print(", ");
     else
-      Serial.print("### InverseKinemetics->ServosPosition's are: ");
+      Serial.print("### InverseKinemetics->ServoData[" + i + "]: ");
 
     Serial.print(DataLine->ServoData[i].x);
     Serial.print(", ");

2011-firefly-mega-ssc32/firmware/2012-library/hexapod/hexapod.h

@@ -17,7 +17,7 @@
 //Addons
 #include "Segment.h"
 #include "IRremote.h"
-#include "TinyGPS.h"
+//#include "TinyGPS.h"
 //#include "WiiChuck.h"
 //#include "Wire.h"