Hexapod/hexapod-robot
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Add CustomTimer and separate left/right leg handling

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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.
This commit is contained in:
mangavalk committed 2016-11-14 13:07:00 +01:00
1 parent 0447cb8c7a
commit 972ba2cb73
3 files changed
+116 -48
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2012-simulation/processing-3d/hexapod/HexapodClass.pde
+26 -21
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@@ -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));
}
}