FireFly 2012 v3: restructured into Data/Converter/IK/Servos classes, IR remote, ultrasonic radar head

From 'hexapodV3 28-april-2012-Backup.rar'. Oud/ is the 2011 code it was based on.

2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Oud/InverseKinemetics.h

@@ -0,0 +1,61 @@
+#ifndef InverseKinemetics_H
+#define InverseKinemetics_H
+
+#include "WProgram.h"
+#include <math.h>
+#include "Data_Manager.h"
+
+class InverseKinemetics
+{
+public:
+  //
+  void RL3(int i);
+  float ZX (int i);
+  float TT (int i);
+  int LL ();
+  void setlegs ();
+  void setleg (int i);
+
+  /* // Input
+   void setLeftFrontLeg	(int ix, int iy, int iz);	  //	clockwise,		t3=clockwise,		t3=counterclockwise
+   void setLeftMiddleLeg	(int ix, int iy, int iz);	  //	clockwise,		t3=clockwise,		t3=counterclockwise
+   void setLeftBackLeg	(int ix, int iy, int iz);         //	clockwise,		t3=clockwise,		t3=counterclockwise
+   void setRightFrontLeg	(int ix, int iy, int iz);	  //	counterclockwise,	t3=counterclockwise,	t3=clockwise
+   void setRightMiddleLeg(int ix, int iy, int iz);         //	counterclockwise,	t3=counterclockwise,	t3=clockwise
+   void setRightBackLeg	(int ix, int iy, int iz);	  //	counterclockwise,	t3=counterclockwise,	t3=clockwise*/
+
+  // 0 | 3
+  // 1 | 4
+  // 2 | 5
+
+  // 
+  void Error_Angle  (int i);
+  void Error_Coordinate (int i);
+  
+  int CheckForErrorCor();
+  String CheckForErrorCor_print();
+  int CheckForErrorAng();
+
+  // Variable's
+  int s;
+  float l3;
+  byte R[18];
+  byte Ra[6];
+};
+
+
+#endif
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