From 972ba2cb73d52e269a36de1542d15f9cc9dada4f Mon Sep 17 00:00:00 2001
From: MangaValk <patrickvalkmanga@hotmail.com>
Date: Mon, 14 Nov 2016 13:07:00 +0100
Subject: [PATCH] Add CustomTimer and separate left/right leg handling

Imported from the unarchived 'hexapod' sketch folder. The real date of this
version is unknown; file dates were lost in a 2016-11-14 copy.
---
 .../processing-3d/hexapod/CustomTimer.pde     | 19 ++++
 .../processing-3d/hexapod/FootClass.pde       | 98 ++++++++++++++-----
 .../processing-3d/hexapod/HexapodClass.pde    | 47 +++++----
 3 files changed, 116 insertions(+), 48 deletions(-)
 create mode 100644 2012-simulation/processing-3d/hexapod/CustomTimer.pde

diff --git a/2012-simulation/processing-3d/hexapod/CustomTimer.pde b/2012-simulation/processing-3d/hexapod/CustomTimer.pde
new file mode 100644
index 0000000..b911496
--- /dev/null
+++ b/2012-simulation/processing-3d/hexapod/CustomTimer.pde
@@ -0,0 +1,19 @@
+class CustomTimer
+{
+  int time;
+  boolean start=true;
+  public boolean delay(int delay)
+  {
+    if (start)
+    {
+      time = millis();
+      start = false;
+    }
+    if (millis() - time >= delay)
+    {
+      start = true;
+      return true;
+    } else
+      return false;
+  }
+}
diff --git a/2012-simulation/processing-3d/hexapod/FootClass.pde b/2012-simulation/processing-3d/hexapod/FootClass.pde
index 5aa9321..8c5e0fe 100644
--- a/2012-simulation/processing-3d/hexapod/FootClass.pde
+++ b/2012-simulation/processing-3d/hexapod/FootClass.pde
@@ -188,40 +188,84 @@ class Foot
       Z = -1 * (Z - TranslateZ);
     }
 
-    double a = (90 - degrees((float)(O1())));
-    double b = (180 - degrees((float)(T1())));
-    double c = degrees((float)(T3()));
+    if (leftLegorRight)
+    {  //  right
+      double a = (90 - degrees((float)(O1())));
+      double b = (180 - degrees((float)(T1())));
+      double c = degrees((float)(T3()));
 
-    if ((a >= 15) & (a <= 165)
-      & (b >= 15) & (b <= 165)
-      & (c >= 15) & (c <= 165))
-    {
-      error = false;
+      if ((a >= 15) & (a <= 165)
+        & (b >= 15) & (b <= 165)
+        & (c >= 15) & (c <= 165))
+      {
+        error = false;
 
-      O1 = a;
-      O2 = b;
-      O3 = c;
+        O1 = a;
+        O2 = b;
+        O3 = c;
 
-      double d = sin((float)(b*(PI/180)));
-      if ( d != 0 )
-        X2 = d * l1;
-      else
-        X2 = 0;
+        double d = sin((float)(b*(PI/180)));
+        if ( d != 0 )
+          X2 = d * l1;
+        else
+          X2 = 0;
 
-      d = cos((float)(b*(PI/180)));
-      if ( d != 0 )
-        Y2 = d * l1;
-      else
-        Y2 = 0;
+        d = cos((float)(b*(PI/180)));
+        if ( d != 0 )
+          Y2 = d * l1;
+        else
+          Y2 = 0;
 
-      d = sin((float)((a-90)*(PI/180)));
-      if ( d != 0 )
-        Z2 = d * abs((float)(X2));
-      else
-        Z2 = 0;
+        d = sin((float)((a-90)*(PI/180)));
+        if ( d != 0 )
+          Z2 = d * abs((float)(X2));
+        else
+          Z2 = 0;
+      } else
+      {
+        error = true;
+      }
     } else
     {
-      error = true;
+      double a = (90 - degrees((float)(O1())));
+      double b = degrees((float)(T1()));
+      double c = 180 - degrees((float)(T3()));
+
+      if ((a >= 15) & (a <= 165)
+        & (b >= 15) & (b <= 165)
+        & (c >= 15) & (c <= 165))
+      {
+        error = false;
+
+        O1 = a;
+        O2 = b;
+        O3 = c;
+
+        a = (90 - degrees((float)(O1())));
+        b = (180 - degrees((float)(T1())));
+        c = degrees((float)(T3()));
+
+        double d = sin((float)(b*(PI/180)));
+        if ( d != 0 )
+          X2 = d * l1;
+        else
+          X2 = 0;
+
+        d = cos((float)(b*(PI/180)));
+        if ( d != 0 )
+          Y2 = d * l1;
+        else
+          Y2 = 0;
+
+        d = sin((float)((a-90)*(PI/180)));
+        if ( d != 0 )
+          Z2 = d * abs((float)(X2));
+        else
+          Z2 = 0;
+      } else
+      {
+        error = true;
+      }
     }
   }
 }
diff --git a/2012-simulation/processing-3d/hexapod/HexapodClass.pde b/2012-simulation/processing-3d/hexapod/HexapodClass.pde
index f22a215..36ead3f 100644
--- a/2012-simulation/processing-3d/hexapod/HexapodClass.pde
+++ b/2012-simulation/processing-3d/hexapod/HexapodClass.pde
@@ -12,6 +12,22 @@ Foot foot6 = new Foot();
 //	10
 //	10
 
+//    LAYOUT HARDWARE
+//      _U_
+//  0==/   \==3
+//     >***<
+// 1===|---|===4
+//     >***<
+//  2==\___/==5
+
+//    LAYOUT SOFTWARE?
+//      _U_
+//  1==/   \==6
+//     >***<
+// 2===|---|===5
+//     >***<
+//  3==\___/==4
+
 PVector point1 = new PVector(4.75, 0, 10);
 PVector point2 = new PVector(7, 0, 0);
 PVector point3 = new PVector(4.75, 0, -10);
@@ -161,26 +177,6 @@ void Vertex(double x, double y, double z)
   vertex((float)x, (float)y, (float)z);
 }
 
-class CustomTimer
-{
-  int time;
-  boolean start=true;
-  public boolean delay(int delay)
-  {
-    if (start)
-    {
-      time = millis();
-      start = false;
-    }
-    if (millis() - time >= delay)
-    {
-      start = true;
-      return true;
-    } else
-      return false;
-  }
-}
-
 void DrawFeet()
 {
   foot1.Translate(point1);  
@@ -215,13 +211,22 @@ void RobotWalk()
 
     animationRepeat = true;
     animationSpeed = 20;
+    /*
     foot1.SetFootCoordinates(Animation(walk1, 6, 2));  //  BULLSHIT BUG
     foot1.SetFootCoordinates(Animation(walk1, 6, 2));
     foot2.SetFootCoordinates(Animation(walk1, 6, 3));
     foot3.SetFootCoordinates(Animation(walk1, 6, 4));//
     foot4.SetFootCoordinates(Animation(walk1, 6, 1));//
     foot5.SetFootCoordinates(Animation(walk1, 6, 0));
-    foot6.SetFootCoordinates(Animation(walk1, 6, 5));
+    foot6.SetFootCoordinates(Animation(walk1, 6, 5));*/
+    foot1.SetFootCoordinates(Animation(walk1, 6, 1));  //  BULLSHIT BUG
+    foot1.SetFootCoordinates(Animation(walk1, 6, 1));
+    foot2.SetFootCoordinates(Animation(walk1, 6, 3));
+    foot3.SetFootCoordinates(Animation(walk1, 6, 5));//
+    
+    foot4.SetFootCoordinates(Animation(walk1, 6, 0));//
+    foot5.SetFootCoordinates(Animation(walk1, 6, 2));
+    foot6.SetFootCoordinates(Animation(walk1, 6, 4));
   }
 }