FireFly 2011: Arduino Mega + SSC-32, Wii Nunchuk, preset walking sequences

From Electronics\Hexapod\Arduino sketches 2011-2012\hexapod_oud (banner 'Version 3.0').

2011-firefly-mega-ssc32/firmware/2011-nunchuk/hexapod_oud/SSC32.cpp

@@ -0,0 +1,79 @@
+#include "SSC32.h"
+
+void SSC32::setup()
+{
+  Serial1.begin(38400);
+  Serial.begin(38400);
+  time = 0;
+  walktime = 0;
+}
+
+void SSC32::MoveHead (int angel_from_mid)
+{
+  Serial1.print(" #"); 
+  Serial1.print(9); 
+  Serial1.print(" P");
+  Serial1.print(ConverttoMS((90 + angel_from_mid), smin[0], smax[0]));
+  Serial1.print(" T");
+  Serial1.println(100);
+}
+
+void SSC32::Render()
+{
+  for (int i=0; i<6; i++)
+  {
+    RAW_2_SERVO[0+(i*3)] = ConverttoMS(DEG_2_CON[0+(i*3)], smin[0], smax[0]);
+    RAW_2_SERVO[1+(i*3)] = ConverttoMS(DEG_2_CON[1+(i*3)], smin[1], smax[1]);
+    RAW_2_SERVO[2+(i*3)] = ConverttoMS(DEG_2_CON[2+(i*3)], smin[2], smax[2]);
+	
+    if (i != 0)
+      Serial.print(", ");
+    else
+      Serial.print("Ang: ");
+	  
+    Serial.print(DEG_2_CON[0+(i*3)]);
+    Serial.print(", ");
+    Serial.print(DEG_2_CON[1+(i*3)]);
+    Serial.print(", ");
+    Serial.print(DEG_2_CON[2+(i*3)]);
+  }
+  Serial.println(";");
+}
+
+int SSC32::ConverttoMS(int i, int low, int high)
+{
+  int tmp = ( i * ( ( high - low ) / 180 ) );
+  return low + tmp;
+}
+
+void SSC32::toServos ()
+{
+  // puss to servos
+
+    // var.    SSC32.
+  // 0 | 3  // 16 | 0
+  // 1 | 4  //  | | |
+  // 2 | 5  // 24 | 8
+
+  for (int i=0; i<9; i++)
+  {
+    Serial1.print(" #"); 
+    Serial1.print(16+i);// 18 22
+    Serial1.print(" P");
+    Serial1.print(RAW_2_SERVO[9+i]);
+  }
+
+  for (int i=0; i<9; i++)
+  {
+    Serial1.print(" #"); 
+    Serial1.print(i); 
+    Serial1.print(" P");
+    Serial1.print(RAW_2_SERVO[i]);
+  }
+
+  Serial1.print(" T");
+  Serial1.println(walktime);
+}
+
+
+