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FireFly 2012: behaviour rewrite now uses the hexapod library

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From Electronics\Hexapod\Arduino sketches 2011-2012\FireFly. Data.h, Def.h and SerD.h moved into the library.
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mangavalk committed 2012-07-23 17:56:33 +02:00
1 parent 304367a769
commit 6e50819e01
9 files changed
+84 -465
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2011-firefly-mega-ssc32/firmware/2012-behaviours-wip/FireFly/FireFly.ino
+30 -195
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@@ -1,196 +1,31 @@
// Hexapod FireFly
// V3.0
#include "hexapod.h"
#include "Data.h"
#include "hexapod.h"
//#include "Converter.h"
//#include "InverseKinemetics.h"
//#include "Servos.h"
#include "Watchdog.h"
#include "Ultrasone.h"
//Data *DataLine = new Data;
/*Converter Con;
InverseKinemetics IK;
Servos SSC32;*/
Watchdog WD;
Ultrasone US;
hexapod FireFly;
void setup()
{
Serial.begin(38400);
Serial1.begin(38400);
pinMode(13, OUTPUT);
//DataLine->WalkTime = 100;
FireFly.FireFly();
}
int a=0;
int b=6;
int tt;
byte Sit;
byte SitC;
// Main loop.
void loop()
{
int d = FireFly.GetNewCmd();
US.GetRadar(DataLine);
/*if(Sit == 1)
if (SitC <= millis())
{
Sit = 0;
DataLine->WalkTime = tt;
} */
if (d != 0)
{
switch(d)
{
case power:
DataLine->ServoData[0](5, 3, 8);
DataLine->ServoData[1](8, 3, 0);
DataLine->ServoData[2](5, 3, -8);
DataLine->ServoData[3](5, 3, 8);
DataLine->ServoData[4](8, 3, 0);
DataLine->ServoData[5](5, 3, -8);
break;
case up:
Serial.println("UP");
for (int i=a; i<=b; i++)
DataLine->ServoData[i].y -= 1;
break;
case down:
Serial.println("DOWN");
for (int i=a; i<=b; i++)
DataLine->ServoData[i].y += 1;
break;
case left:
Serial.println("LEFT");
for (int i=a; i<=b; i++)
{
if (i<3)
DataLine->ServoData[i].x += 1;
else
DataLine->ServoData[i].x -= 1;
}
break;
case right:
Serial.println("RIGHT");
for (int i=a; i<=b; i++)
{
if (i<3)
DataLine->ServoData[i].x -= 1;
else
DataLine->ServoData[i].x += 1;
}
break;
case forward:
Serial.println("forward");
for (int i=a; i<=b; i++)
DataLine->ServoData[i].z -= 1;
break;
case back:
Serial.println("back");
for (int i=a; i<=b; i++)
DataLine->ServoData[i].z += 1;
break;
case ok:
Serial.println("OK");
tt = DataLine->WalkTime;
DataLine->WalkTime = 3000;
DataLine->ServoData[0](5, 3, 8);
DataLine->ServoData[1](8, 3, 0);
DataLine->ServoData[2](5, 3, -8);
DataLine->ServoData[3](5, 3, 8);
DataLine->ServoData[4](8, 3, 0);
DataLine->ServoData[5](5, 3, -8);
/*IK.IK(DataLine);
Con.Convert(DataLine);
DataLine->Send = 1;
SSC32.Send(DataLine);*/
Sit = 1;
break;
case IR_0:
Serial.println("0");
a = 0;
b = 5;
break;
case IR_1:
Serial.println("1");
a = 0;
b = 0;
break;
/*case IR_2:
Serial.println("OK");
a = ;
b = ;
break;*/
case IR_3:
Serial.println("3");
a = 3;
b = 3;
break;
case IR_4:
Serial.println("4");
a = 1;
b = 1;
break;
/*case IR_5:
Serial.println("OK");
a = ;
b = ;
break;*/
case IR_6:
Serial.println("6");
a = 4;
b = 4;
break;
case IR_7:
Serial.println("7");
a = 2;
b = 2;
break;
/*case IR_8:
Serial.println("OK");
a = ;
b = ;
break;*/
case IR_9:
Serial.println("9");
a = 5;
b = 5;
break;
default:
Serial.println(d);
break;
}
}
/*IK.IK(DataLine);
Con.Convert(DataLine);*/
WD.CheckTime(DataLine);
if (Sit){
if ((DataLine->Send) & (SitC))
{
DataLine->WalkTime = tt;
SitC = 0;
Sit = 0;
}
else if (DataLine->Send)
SitC = 1;
}
//SSC32.Send(DataLine);
}
// Hexapod FireFly
#include "hexapod.h"
#include "Gedrags_Classen.cpp"
//Watchdog WD;
//Ultrasone US;
hexapod *FireFly = new hexapod;
void setup()
{
Serial.begin(38400);
Serial1.begin(38400);
pinMode(13, OUTPUT);
FireFly->FireFly();
}
// Main loop.
void loop()
{
DataObject *cache = new DataObject;
cache->input(5, 3, 8, 8, 3, 0, 5, 3, -8, 5, 3, 8, 8, 3, 0, 5, 3, -8, 500);
//WD.CheckTime(DataLine);
FireFly->CoreSend(cache);
}