FireFly 2012: start of a behaviour-based rewrite (unfinished, does not compile)

From 'FireFly 19.rar'.

2011-firefly-mega-ssc32/firmware/2012-behaviours-wip/FireFly/Data.h

@@ -0,0 +1,71 @@
+//Data.h Data Structure
+
+#ifndef DATA
+#define DATA
+
+#include "Arduino.h"
+#include "Def.h"
+#include "SerD.h"
+
+//    LAYOUT
+//      _U_
+//  0==/   \==3
+//     >***<
+// 1===|---|===4
+//     >***<
+//  2==\___/==5
+
+struct Data
+{
+  //MAIN
+  // Pointers to classes
+  //hexapod FireFly;
+
+  //Watchdog
+  boolean Send;
+  double LastSendTime;
+  int WalkTime;
+  int HeadTime;  //100
+
+  //Converter
+  SerD ServoData[6];
+  float HeadAngle;
+  int ReadyToSend;
+
+  //IK
+  int HeadPosition;
+  boolean ReadyToConvert;
+  float l3;
+  float s;
+
+  //Init
+  Data()
+  {
+    LastSendTime = 0;
+    HeadAngle = 0;
+    HeadTime = 100;
+
+    ServoData[0](5, 3, 8);
+    ServoData[1](8, 3, 0);
+    ServoData[2](5, 3, -8);
+    ServoData[3](5, 3, 8);
+    ServoData[4](8, 3, 0);
+    ServoData[5](5, 3, -8);
+  }
+
+  Data& operator() (DataObject *R)
+	{
+		ServoData[0] = R.s0;
+		ServoData[1] = R.s1;
+		ServoData[2] = R.s2;
+		ServoData[3] = R.s3;
+		ServoData[4] = R.s4;
+		ServoData[5] = R.s5;
+	}
+
+};
+
+#endif
+
+
+