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.

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;
+      }
     }
   }
 }