update

First commit
2022-12-04 23:22:48 +01:00 · 2014-02-17 11:50:52 +01:00
528 changed files with 0 additions and 466420 deletions
@@ -1,5 +1,3 @@
-# Store every file exactly as it is: no line-ending conversion, so old code stays byte-for-byte original.
-* -text
 *.wmv filter=lfs diff=lfs merge=lfs -text
 *.WMV filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
@@ -1,10 +0,0 @@
-# 2009–2011: the FPGA version
-
-The first hexapod, driven by an FPGA. Its frame, `original-frame/`, was the mechanical base of every
-version up to 2023. The FPGA code has not survived; what is left are the photos and videos in `media/`,
-among them `hexapod film 18-11-09.wmv`.
-
- `original-frame/` – the leg, body and bracket designs (DXF/DWG, 2009–2011).
- `media/` – photos and videos of the FPGA version, sorted by the owner; those of the FireFly version are in
-  `../2011-firefly-mega-ssc32/media/`. (Most file dates are copy dates. `DSCF*` photos carry a camera date
-  of 2003.)
@@ -1,12 +0,0 @@
-# Original frame (2009–2023)
-
-The mechanical design every version up to 2023 was built on. The 2026 robot has a new design, see
-`../../2026-current/hardware/fusion360/`.
-
-| File | Date | What |
-|---|---|---|
-| `poot.dxf` | 2009-10 | leg ("poot") |
-| `hexapod been.dxf` | 2009-12 | leg ("been") |
-| `poot2.dwg` | 2011-04 | leg, second version |
-| `body.dxf`, `Body.jpg` | 2011-07 | body plate, for the Arduino Mega + SSC-32 rebuild |
-| `bracket.dxf` | 2011-07 | servo bracket |
@@ -1,28 +0,0 @@
-# 2011–2012: FireFly (Arduino Mega + SSC-32)
-
-In June 2011 the robot was rebuilt around an Arduino Mega 2560 and a Lynxmotion SSC-32 servo controller,
-with a new body and bracket (`../2009-fpga/original-frame/`). The Mega does the inverse kinematics and sends
-`#n Pxxxx Txxx` commands to the SSC-32 over `Serial1` at 38400 baud. The serial banner calls it "FireFly".
-
-## firmware/
-
-Each folder is an Arduino sketch (or library); successive versions are successive commits, so
-`git log -p -- <folder>` shows what changed.
-
-| Folder | Dates | What |
-|---|---|---|
-| `2011-nunchuk/hexapod_oud/` | 2011-10, 2011-12 | Wii Nunchuk input, fixed walking sequences, IK, SSC-32 output. Second commit = `hexapod V2 29-12-11.rar` |
-| `2012-glcd-remote/hexapod_remote_glcd/` | 2012-03 | handheld remote: graphic LCD, IR receiver and Wii Nunchuk, using the hexapod library |
-| `2012-ir-radar-gps/hexapodV3/` | 2012-04, 2012-05 | v3 restructure (Data, Converter, IK, Servos classes), RC6 IR remote, ultrasonic sensor on a swivelling head servo, watchdog. `Oud/` is the 2011 code it started from |
-| `2012-library/hexapod/` | 2012-07, ≤2014-02 | the robot code as an Arduino library "hexapod" v3.1: IK, SSC-32, IR, ultrasonic, GPS (TinyGPS on `Serial2`), 7-segment display. Second commit = the variant kept in the 2014 GitLab archive |
-| `2012-behaviours-wip/FireFly/` | 2012-07 | start of a behaviour-based rewrite on top of the library; unfinished, does not compile |
-
-## Other folders
-
- `hardware/` – the Arduino Mega 2560 (SparkFun DEV-09949) and SSC-32 photos of June 2011, `Layout Hexapod.jpg`.
- `docs/math/` – the IK and body-rotation derivations (`[1]`–`[5]`, `Hexapod draaien Y as.png`, IK.pdf as `Movement Space Leg.pdf`). Older versions (`wisFORlive*.docx`) are in the history.
- `docs/planning/` – workflow and to-do documents (2012).
- `docs/research/` – papers on hexapod workspace and Q-learning, GPS module and TinyGPS manuals.
- `docs/concepts/` – inspiration images and early sketches (2008–2012).
- `tools/` – two small Windows programs from November 2011 (`hexapod 1.0.exe`, `hexapod Source 0.2.exe`); what they do is not known.
- `media/` – photos and videos of the FireFly version, sorted by the owner, incl. `Hexapod 29-11-11.wmv`.
@@ -1,28 +0,0 @@
-#include "Data_Manager.h"
-
-// Raw variable that must be send to the ssc32.
-int RAW_2_SERVO[18];
-
-// Angel to converter.
-int DEG_2_CON[18];
-
-// Coordinate to iverse kinematics.
-int COR_2_IK[18];
-
-// Orbit angles.
-int ORBIT_X, ORBIT_Y, ORBIT_Z;
-
-// Hight.
-int HIGHT;
-
-// Walk Direction relative from body.
-int DIR_R_BODY;
-
-// IK Legnth.
-int l1, l2;
-
-// Min and Max for SSC32.
-int smin[3], smax[3];
-
-// WalkTime
-int walktime;
@@ -1,20 +0,0 @@
-// Data_Manager.h
-
-#ifndef DATA_MANAGER
-#define DATA_MANAGER
-
-extern int RAW_2_SERVO[18];
-extern int DEG_2_CON[18];// int
-extern int COR_2_IK[18];
-extern int ORBIT_X, ORBIT_Y, ORBIT_Z;
-extern int HIGHT;
-extern int DIRECTION;
-extern int l1, l2;
-extern int smin[3], smax[3];
-extern int walktime;
-
-
-#endif
-
-
-
@@ -1,50 +0,0 @@
-// Include.
-#include <math.h>
-#include "InverseKinemetics.h"
-#include "SSC32.h"
-#include "sequnces.h"
-#include "Orbit.h"
-#include "Data_Manager.h"
-
-// Classes.
-InverseKinemetics ik;
-SSC32 body;
-Orbit orbit;
-
-// Nunchuck.
-#include "WiiChuck.h"
-
-#define MAXANGLE 90
-#define MINANGLE -90
-
-WiiChuck chuck = WiiChuck();
-int angleStart, currentAngle;
-int tillerStart = 100;
-double angle;
-
-// Functions.
-void FireFly()
-{
-  Serial.println("");
-  Serial.println(" ____                     ____    ___                ");
-  Serial.println("/\\  _`\\   __             /\\  _`\\ /\\_ \\               ");
-  Serial.println("\\ \\ \\L\\_\\/\\_\\  _ __    __\\ \\ \\L\\_\\//\\ \\    __  __    ");
-  Serial.println(" \\ \\  _\\/\\/\\ \\/\\`'__\\/'__`\\ \\  _\\/ \\ \\ \\  /\\ \\/\\ \\   ");
-  Serial.println("  \\ \\ \\/  \\ \\ \\ \\ \\//\\  __/\\ \\ \\/   \\_\\ \\_\\ \\ \\_\\ \\  ");
-  Serial.println("   \\ \\_\\   \\ \\_\\ \\_\\\\ \\____\\\\ \\_\\   /\\____\\\\/`____ \\ ");
-  Serial.println("    \\/_/    \\/_/\\/_/ \\/____/ \\/_/   \\/____/ `/___/> \\");
-  Serial.println("                                               /\\___/");
-  Serial.println("                                               \\/__/ ");
-  Serial.println("");
-  Serial.println("Version 3.0");
-  delay(800);
-}
-
-void warning ()
-{
-  digitalWrite(13, HIGH);
-  delay(100);
-  digitalWrite(13, LOW); 
-}
-
-
@@ -1,157 +0,0 @@
-//#include "WProgram.h"
-#include "InverseKinemetics.h"
-
-void InverseKinemetics::RL3 (int i)
-{
-  l3 = sqrt(pow(abs(COR_2_IK[0+(i*3)]), 2) + pow(abs(COR_2_IK[2+(i*3)]), 2));
-}
-
-float InverseKinemetics::ZX (int i)
-{
-  RL3(i);
-  if (COR_2_IK[2+(i*3)] != 0)
-    float temp = degrees(acos((float)COR_2_IK[2+(i*3)] / l3));
-  else
-    float temp = 90; // Math Error Protection.
-  return temp;
-}
-
-float InverseKinemetics::TT (int i)
-{
-  int x = pow(abs(COR_2_IK[0+(i*3)]), 2);
-  int y = pow(abs(COR_2_IK[1+(i*3)]), 2);
-  int z = pow(abs(COR_2_IK[2+(i*3)]), 2);  
-  s = sqrt(x + y + z);
-
-  if (s > (l1 + l2) )
-    R[i] = 3;
-
-  float t1 = degrees(acos((pow(s, 2) + pow(COR_2_IK[1+(i*3)], 2) - pow(l3, 2))
-    / (2 * s * COR_2_IK[1+(i*3)])));
-
-  float t2 = degrees(acos((pow(s, 2) + pow(l1, 2) - pow(l2, 2))
-    / (2 * s * l1)));
-
-  float temp = (int)t1 + t2;
-  //Serial.print("DEBUG: "); Serial.print(t1); Serial.print(", "); Serial.print(t2); Serial.print(", "); Serial.println(temp);
-
-  return temp;
-}
-
-int InverseKinemetics::LL ()
-{
-  int temp = degrees(acos((float)(pow(l1, 2) + pow(l2, 2) - pow(s, 2)) / (2 * l1 * l2)));
-  return temp;
-}
-
-void InverseKinemetics::setleg (int i)
-{
-  Serial.print("Set Leg "); 
-  Serial.println(i);
-  if (i >= 3)
-  {
-    //Error_Coordinate(i);
-    DEG_2_CON[0+(i*3)] = 180 - ZX(i);
-    DEG_2_CON[1+(i*3)] = 180 - TT(i);
-    DEG_2_CON[2+(i*3)] = LL();
-    Error_Angle(i);  
-  }
-  else
-  {
-    //Error_Coordinate(i);
-    DEG_2_CON[0+(i*3)] = ZX(i);
-    DEG_2_CON[1+(i*3)] = TT(i);
-    DEG_2_CON[2+(i*3)] = 180 - LL();
-    Error_Angle(i);
-  }
-}
-
-void InverseKinemetics::setlegs ()
-{
-  for (int i=0; i<6; i++)
-  {
-    setleg(i);
-  }
-  for (int i=0; i<6; i++)
-  {
-    if (i != 0)
-      Serial.print(", ");
-    else
-      Serial.print("Cor: ");
-    Serial.print(COR_2_IK[0+(i*3)]);
-    Serial.print(", ");
-    Serial.print(COR_2_IK[1+(i*3)]);
-    Serial.print(", ");
-    Serial.print(COR_2_IK[2+(i*3)]);
-  }
-  Serial.println(";");
-}
-
-void InverseKinemetics::Error_Angle (int i)
-{  
-  for (int i2=0; i2<3; i2++)
-    R[i2+(i*3)] = 0;
-  if (DEG_2_CON[0+(i*3)] < 0) 
-    R[0+(i*3)] = 1;
-  if (DEG_2_CON[0+(i*3)] > 180) 
-    R[0+(i*3)] = 2;
-  if (DEG_2_CON[1+(i*3)] < 0) 
-    R[1+(i*3)] = 1; 
-  if (DEG_2_CON[1+(i*3)] > 180)
-    R[1+(i*3)] = 2;
-  if (DEG_2_CON[2+(i*3)] < 0)
-    R[2+(i*3)] = 1;
-  if (DEG_2_CON[2+(i*3)] > 180)
-    R[2+(i*3)] = 2;
-}
-
-void InverseKinemetics::Error_Coordinate (int i)
-{  
-  Ra[i] = 0;
-  float temp = sqrt(pow(COR_2_IK[0+(i*3)], 2) + pow(COR_2_IK[1+(i*3)], 2) + pow(COR_2_IK[2+(i*3)], 2));
-  if (temp <= 5) {
-    Ra[i] = 1;
-  }    
-  if (temp > l1 + l2) {
-    Ra[i] = 2;
-  }
-}
-
-int InverseKinemetics::CheckForErrorCor()
-{
-  for (int i=1;  i<19; i++)
-    if (R[i-1]!=0)
-      return i;
-  return 0;
-}
-
-String InverseKinemetics::CheckForErrorCor_print()
-{
-  String temp = "Error Coordinate: ";
-  for (int i=0; i<18; i++)
-  {
-    temp = temp + (int)DEG_2_CON[i] + ", ";
-  }
-  temp = temp + "\nCheckForErrorCor returnd: " + CheckForErrorCor();
-  return temp;
-}
-
-int InverseKinemetics::CheckForErrorAng()
-{
-  for (int i=0;  i<6; i++)
-    if (Ra[i]!=0)
-      return i;
-  return 0;
-}
-
-
-
-
-
-
-
-
-
-
-
-
@@ -1,61 +0,0 @@
-#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
-
-
-
-
-
-
-
-
-
-
-
-
-
-
@@ -1,91 +0,0 @@
-// Orbit.cpp
-
-#include "Orbit.h"
-
-void Orbit::getData(int iy[6], int ix[6], int iz[6])
-{
-  for (int i=0; i<6; i++)
-  {
-    x[i] = ix[i];
-    y[i] = iy[i];
-    z[i] = iz[i];
-  }
-  lx[0] = 5; 
-  lx[1] = 7; 
-  lx[2] = 5; 
-  lx[3] = 5; 
-  lx[4] = 7; 
-  lx[5] = 5; 
-  ly[0] = 10; 
-  ly[1] = 0; 
-  ly[2] = 10; 
-  ly[3] = 10; 
-  ly[4] = 0; 
-  ly[5] = 10;  
-}
-
-void Orbit::getAngle (int ix, int iy)
-{
-  oP = ix;
-  o2P = iy;
-  oN = 180 - ix;
-  o2N = 180 - iy;  
-}
-
-void Orbit::calculate()
-{
-  // X Size.
-  // Right side.
-  for (int i=3; i<6; i++)
-  {
-    float l1 = sqrt(pow(x[i], 2) + pow(y[i], 2));
-    float o1 = degrees(atan(y[i] / x[i]));
-    float o2 = oP - o1;  
-    Ny[i] = sin(radians(o2)) * l1;
-    Nx[i] = (cos(radians(o2)) * l1) - lx[i];
-    Nz[i] = z[i];
-  }
-
-  // Left size;
-  for (int i=0; i<4; i++)
-  {
-    float l1 = sqrt(pow(x[i], 2) + pow(y[i], 2));
-    float o1 = degrees(atan(y[i] / x[i]));
-    float o2 = oN - o1;  
-    Ny[i] = sin(radians(o2)) * l1;
-    Nx[i] = (cos(radians(o2)) * l1) - lx[i];
-    Nz[i] = z[i];
-  }
-
-  // Y Size.
-  // Right side.
-  /*for (int i=3; i<6; i++) WRong
-   {
-   float l1 = sqrt(pow(x[i], 2) + pow(y[i], 2));
-   float o1 = degrees(atan(y[i] / x[i]));
-   float o2 = o2P - o1;  
-   Ny[i] = sin(radians(o2)) * l1;
-   Nx[i] = (cos(radians(o2)) * l1) - lx[i];
-   Nz[i] = z[i];
-   }
-   
-   // Left size;
-   for (int i=0; i<4; i++) WRong
-   {
-   float l1 = sqrt(pow(x[i], 2) + pow(y[i], 2));
-   float o1 = degrees(atan(y[i] / x[i]));
-   float o2 = o2N - o1;  
-   Ny[i] = sin(radians(o2)) * l1;
-   Nx[i] = (cos(radians(o2)) * l1) - lx[i];
-   Nz[i] = z[i];
-   }*/
-}
-
-
-
-
-
-
-
-
-
@@ -1,30 +0,0 @@
-// Orbit.h
-
-#ifndef Orbit_H
-#define Orbit_H
-
-#include "WProgram.h"
-
-class Orbit 
-{
-public:
-  void getData(int ix[6], int iy[6], int iz[6]);
-  void getAngle (int ix, int iy);
-  
-  void calculate();
-
-  int x[6], y[6], z[6];
-  int Nx[6], Ny[6], Nz[6];
-  int oP, o2P, oN, o2N;
-  int lx[6], ly[6];
-};
-
-
-#endif
-
-
-
-
-
-
-
@@ -1,23 +0,0 @@
-// Rotation.cpp
-
-#include "Rotation.h"
-
-void Rotation::getData(int ix[6], int iy[6], int iz[6])
-{
-  for (int i=0; i<6; i++)
-  {
-    x[i] = ix[i];
-    y[i] = iy[i];
-    z[i] = iz[i];
-  } 
-}
-
-int NewX, NewY;
-void rotate (int x, int y, int angel)
-{
-  NewY = x * sin(radians(angel)) + y * cos(radians(angel));
-  NewX = x * cos(radians(angel)) - y * sin(radians(angel));
-}
-
-
-
@@ -1,24 +0,0 @@
-// Rotation.h
-
-#ifndef Rotation_H
-#define Rotation_H
-
-#include "WProgram.h"
-
-class Rotation 
-{
-public:
-  void getData(int ix[6], int iy[6], int iz[6]);
-
-  int x[6], y[6], z[6];
-};
-
-
-#endif
-
-
-
-
-
-
-
@@ -1,79 +0,0 @@
-#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);
-}
-
-
-
@@ -1,34 +0,0 @@
-// SSC32.h
-
-#ifndef SSC32_H
-#define SSC32_H
-
-#include "WProgram.h"
-#include "Data_Manager.h"
-
-class SSC32 
-{
-public:
-  void setup();
-
-  void Render();
-  void toServos ();
-  void MoveHead (int angel_from_mid);
-
-  int ConverttoMS(int i, int low, int high);
-
-  // 0 | 3
-  // 1 | 4
-  // 2 | 5
-
-  int time;
-};
-
-
-#endif
-
-
-
-
-
-
@@ -1,210 +0,0 @@
-/*
- * Nunchuck -- Use a Wii Nunchuck
- * Tim Hirzel http://www.growdown.com
- * 
- notes on Wii Nunchuck Behavior.
- This library provides an improved derivation of rotation angles from the nunchuck accelerometer data.
- The biggest different over existing libraries (that I know of ) is the full 360 degrees of Roll data
- from teh combination of the x and z axis accelerometer data using the math library atan2. 
- 
- It is accurate with 360 degrees of roll (rotation around axis coming out of the c button, the front of the wii),
- and about 180 degrees of pitch (rotation about the axis coming out of the side of the wii).  (read more below)
- 
- In terms of mapping the wii position to angles, its important to note that while the Nunchuck
- sense Pitch, and Roll, it does not sense Yaw, or the compass direction.  This creates an important
- disparity where the nunchuck only works within one hemisphere.  At a result, when the pitch values are 
- less than about 10, and greater than about 170, the Roll data gets very unstable.  essentially, the roll
- data flips over 180 degrees very quickly.   To understand this property better, rotate the wii around the
- axis of the joystick.  You see the sensor data stays constant (with noise).  Because of this, it cant know
- the difference between arriving upside via 180 degree Roll, or 180 degree pitch.  It just assumes its always
- 180 roll.
- 
- 
- * 
- * This file is an adaptation of the code by these authors:
- * Tod E. Kurt, http://todbot.com/blog/
- *
- * The Wii Nunchuck reading code is taken from Windmeadow Labs
- * http://www.windmeadow.com/node/42
- */
-
-#ifndef WiiChuck_h
-#define WiiChuck_h
-
-#include "WProgram.h" 
-#include <Wire.h>
-#include <math.h>
-
-
-// these may need to be adjusted for each nunchuck for calibration
-#define ZEROX 510  
-#define ZEROY 490
-#define ZEROZ 460
-#define RADIUS 180  // probably pretty universal
-
-#define DEFAULT_ZERO_JOY_X 124
-#define DEFAULT_ZERO_JOY_Y 132
-
-
-
-class WiiChuck {
-private:
-  byte cnt;
-  uint8_t status[6];		// array to store wiichuck output
-  byte averageCounter;
-  //int accelArray[3][AVERAGE_N];  // X,Y,Z
-  int i;
-  int total;
-  uint8_t zeroJoyX;   // these are about where mine are
-  uint8_t zeroJoyY; // use calibrateJoy when the stick is at zero to correct
-  int lastJoyX;
-  int lastJoyY;
-  int angles[3];
-
-  boolean lastZ, lastC;
-
-
-public:
-
-  byte joyX;
-  byte joyY;
-  boolean buttonZ;
-  boolean buttonC;
-  void begin() 
-  {
-    Wire.begin();
-    cnt = 0;
-    averageCounter = 0;
-    Wire.beginTransmission (0x52);	// transmit to device 0x52
-    Wire.send (0x40);		// sends memory address
-    Wire.send (0x00);		// sends memory address
-    Wire.endTransmission ();	// stop transmitting
-    update();            
-    for (i = 0; i<3;i++) {
-      angles[i] = 0;
-    }
-    zeroJoyX = DEFAULT_ZERO_JOY_X;
-    zeroJoyY = DEFAULT_ZERO_JOY_Y;
-  }
-
-
-  void calibrateJoy() {
-    zeroJoyX = joyX;
-    zeroJoyY = joyY;
-  }
-
-  void update() {
-
-    Wire.requestFrom (0x52, 6);	// request data from nunchuck
-    while (Wire.available ()) {
-      // receive byte as an integer
-      status[cnt] = _nunchuk_decode_byte (Wire.receive()); //
-      cnt++;
-    }
-    if (cnt > 5) {
-      lastZ = buttonZ;
-      lastC = buttonC;
-      lastJoyX = readJoyX();
-      lastJoyY = readJoyY();
-      //averageCounter ++;
-      //if (averageCounter >= AVERAGE_N)
-      //    averageCounter = 0;
-
-      cnt = 0;
-      joyX = (status[0]);
-      joyY = (status[1]);
-      for (i = 0; i < 3; i++) 
-        //accelArray[i][averageCounter] = ((int)status[i+2] << 2) + ((status[5] & (B00000011 << ((i+1)*2) ) >> ((i+1)*2))); 
-        angles[i] = (status[i+2] << 2) + ((status[5] & (B00000011 << ((i+1)*2) ) >> ((i+1)*2))); 
-
-      //accelYArray[averageCounter] = ((int)status[3] << 2) + ((status[5] & B00110000) >> 4); 
-      //accelZArray[averageCounter] = ((int)status[4] << 2) + ((status[5] & B11000000) >> 6); 
-
-      buttonZ = !( status[5] & B00000001);
-      buttonC = !((status[5] & B00000010) >> 1);
-      _send_zero(); // send the request for next bytes
-
-    }
-  }
-
-
-  // UNCOMMENT FOR DEBUGGING
-  //byte * getStatus() {
-  //    return status;
-  //}
-
-  float readAccelX() {
-    // total = 0; // accelArray[xyz][averageCounter] * FAST_WEIGHT;
-    return (float)angles[0] - ZEROX;
-  }
-  float readAccelY() {
-    // total = 0; // accelArray[xyz][averageCounter] * FAST_WEIGHT;
-    return (float)angles[1] - ZEROY;
-  }
-  float readAccelZ() {
-    // total = 0; // accelArray[xyz][averageCounter] * FAST_WEIGHT;
-    return (float)angles[2] - ZEROZ;
-  }
-
-  boolean zPressed() {
-    return (buttonZ && ! lastZ);
-  }
-  boolean cPressed() {
-    return (buttonC && ! lastC);
-  }
-
-  // for using the joystick like a directional button
-  boolean rightJoy(int thresh=60) {
-    return (readJoyX() > thresh and lastJoyX <= thresh);
-  }
-
-  // for using the joystick like a directional button
-  boolean leftJoy(int thresh=60) {
-    return (readJoyX() < -thresh and lastJoyX >= -thresh);
-  }
-
-
-  int readJoyX() {
-    return (int) joyX - zeroJoyX;
-  }
-
-  int readJoyY() {
-    return (int)joyY - zeroJoyY;
-  }
-
-
-  // R, the radius, generally hovers around 210 (at least it does with mine)
-  // int R() {
-  //     return sqrt(readAccelX() * readAccelX() +readAccelY() * readAccelY() + readAccelZ() * readAccelZ());  
-  // }
-
-
-  // returns roll degrees
-  int readRoll() {
-    return (int)(atan2(readAccelX(),readAccelZ())/ M_PI * 180.0);
-  }
-
-  // returns pitch in degrees
-  int readPitch() {        
-    return (int) (acos(readAccelY()/RADIUS)/ M_PI * 180.0);  // optionally swap 'RADIUS' for 'R()'
-  }
-
-private:
-  byte _nunchuk_decode_byte (byte x)
-  {
-    x = (x ^ 0x17) + 0x17;
-    return x;
-  }
-
-  void _send_zero()
-  {
-    Wire.beginTransmission (0x52);	// transmit to device 0x52
-    Wire.send (0x00);		// sends one byte
-    Wire.endTransmission ();	// stop transmitting
-  }
-
-};
-
-
-#endif
-
@@ -1,15 +0,0 @@
-// atan2.cpp
-
-#include "atan2.h"
-
-void joy::JoyToDegAndDis (int x, int y)
-{
-  deg = !(90 + degrees(atan2(y, x)));
-  distance = sqrt(y^2 + x^2);
-}
-
-int  joy::JoyToDeg (int x, int y)
-{ // watchout 90 + does not work good
-  return !(degrees(atan2(y, x)));
-}
-
@@ -1,26 +0,0 @@
-// atan2.h
-
-#ifndef joy_H
-#define joy_H
-
-#include "WProgram.h"
-
-class joy 
-{
-public:
-  void JoyToDegAndDis (int x, int y);
-  int  JoyToDeg (int x, int y);
-
-  int deg, distance;
-};
-
-
-#endif
-
-
-
-
-
-
-
-
@@ -1,196 +0,0 @@
-// Hexapod FireFly
-
-#include "Header.h"
-#include "Wire.h" // Just dont work's, if you put it in the Header file.
-
-// Setup.
-void setup()
-{
-  chuck.begin();
-  chuck.update();
-  smin[0] = 600;
-  smin[1] = 960;
-  smin[2] = 600;
-  smax[0] = 2400;
-  smax[1] = 2100;
-  smax[2] = 2400;
-  l1 = 10;
-  l2 = 15;
-  pinMode(13, OUTPUT); // Led L
-  Serial.begin(38400);
-  body.setup();
-  FireFly();
-}
-
-// Position.
-int Position=1;
-int PosMax=15;
-int BeginPos=0;
-int Directory=0;
-
-void UpdatePosition(int i=0)
-{
-  if (i == 0)
-  {
-    if ((Position < PosMax) && (Directory == 0))
-      Position++;
-    else if (Directory == 0)
-      Directory=1;
-    else if ((Position > 1) && (Directory == 1))
-      Position--;
-    else
-      Directory=0;
-  }
-  else
-  {
-    if (Position < PosMax)
-      Position++;
-    else
-      Position = BeginPos;
-
-    if (Directory == 1)
-    {
-      Directory = 2;
-      Position = BeginPos; 
-    }
-  }
-}
-
-/*==============================================/
- 
- Go Use Class::operator=, To give Data From IK Class To Rotation or SSC32 Class.
- 
- /==============================================*/
-
-// Variables.
-double past = millis();
-int Watchdog=0;
-
-// Main loop.
-void loop()
-{
-  if (millis() < past) // to handle te exception of 50 day overflow of millis()
-    past = millis();
-
-  while ( ((millis() - past) <  walktime) || (Watchdog == 0))
-  {
-    /* chuck.update();
-     ojx = chuck.readJoyX();
-     ojy = chuck.readJoyY();
-     oax = chuck.readAccelX();
-     oay = chuck.readAccelY();
-     
-     // Mode Head Servo.
-     body.MoveHead(chuck.readRoll());*/
-
-    if (Watchdog == 0)
-    {
-      walktime = 300;
-
-      if (Directory==0)
-      {
-        UpdatePosition();
-
-        for (int i=0; i<6; i++)
-        {
-          COR_2_IK[0+(i*3)] = 10; //x
-          COR_2_IK[1+(i*3)] = Position;  //y
-          COR_2_IK[2+(i*3)] = 0;  //z
-        }
-        COR_2_IK[2+(0*3)] = -10;// x side body
-        COR_2_IK[2+(2*3)] = 10;///
-        COR_2_IK[2+(3*3)] = -10;//
-        COR_2_IK[2+(5*3)] = 10;///
-        COR_2_IK[0+(1*3)] = 10;// z side body
-        COR_2_IK[0+(4*3)] = 10;
-      }
-      else
-      {
-        PosMax = 7;
-        UpdatePosition(1);
-        for (int i2=0; i2<18; i2++)
-        {
-          COR_2_IK[i2] = TriPoD[Position][i2];
-          COR_2_IK[i2] = TriPoD[Position][i2];
-        }
-        for(int i=0; i<6; i++)
-        {
-          // zij, laag, achter
-          // 10, 15, -10,   15, 15, 0,   10, 15, 10,   10, 15, -10,   15, 15, 0,   10, 15, 10;
-          int cor[6] = {  -5, 0, 5, -5, 0, 5    };
-          COR_2_IK[2+(i*3)] += cor[i]; 
-        }
-      }
-
-      /* orbit.getAngle(90 + (chuck.readRoll()/3), 90);// 90 + (chuck.readPitch()/3));
-       orbit.getData(x, y, z);
-       orbit.calculate();*/
-
-      //                  x, y, z
-      // x, z is above the leg, z is depth
-      // y, l3 is side leg, y is height
-      ik.setlegs();
-      body.Render();  
-
-      Serial.println("Done Rendering");
-      /*if (ik.CheckForErrorCor() != 0)
-      {
-        warning();
-        Serial.println("Coordinate Error. ");
-        Serial.println(ik.CheckForErrorCor_print());
-      }
-      else*/
-        Watchdog = 1;
-    }
-  }
-
-  past = millis(); // gifs an overflow after 50 day run.
-  Serial.println("Out of loop");
-
-  if (Watchdog == 1)
-  {
-    if (ik.CheckForErrorAng() == 0) // check if there is no error.
-    {
-      Serial.println("Sending");
-      body.toServos();
-    }
-    else
-    {
-      warning();
-      Serial.println("Axis Error.");
-    }
-    Watchdog = 0;
-  }
-}
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
@@ -1,19 +0,0 @@
-// sequnces
-
-// Hexapod seqencer.
-int TriPoD_Size = 8;
-
-int TriPoD[8][18] = { 
- {10,10, 0,10,15, 0,10,10, 0,10,15, 0,10,10, 0,10,15, 0},
- {10,10,-2,10,15, 2,10,10,-2,10,15, 3,10,10,-2,10,15, 2},
- {10,15,-2,10,15, 2,10,15,-2,10,15, 3,10,15,-2,10,15, 2},
- {10,15,-2,10,10, 2,10,15,-2,10,10, 3,10,15,-2,10,10, 2},
- {10,15, 0,10,10, 0,10,15, 0,10,10, 0,10,15, 0,10,10, 0},
- {10,15, 2,10,10,-2,10,15, 2,10,10,-2,10,15, 2,10,10,-2},
- {10,15, 2,10,15,-2,10,15, 2,10,15,-2,10,15, 2,10,15,-2},
- {10,10, 2,10,15,-2,10,10, 2,10,15,-2,10,10, 2,10,15,-2}
- };
-
-
-
-
@@ -1,31 +0,0 @@
-// Hexapod FireFly
-
-#include "hexapod.h"
-
-#include "Gedrags_Classen.cpp"
-
-//Watchdog WD;
-//Ultrasone US;
-hexapod *FireFly = new hexapod;
-
-void setup()
-{
-  Serial.begin(38400);
-  Serial1.begin(38400);
-  pinMode(13, OUTPUT);
-
-  FireFly->FireFly();
-}
-
-// Main loop.
-void loop()
-{
-  DataObject *cache = new DataObject;
-  
-  cache->input(5, 3, 8, 8, 3, 0, 5, 3, -8, 5, 3, 8, 8, 3, 0, 5, 3, -8, 500);
-
-  //WD.CheckTime(DataLine);
-
-  FireFly->CoreSend(cache);
-}
-
@@ -1,55 +0,0 @@
-//Gedrags classen,
-
-#ifndef GCC
-#define GCC
-
-#include "hexapod.h"
-
-//    LAYOUT
-//      _U_
-//  0==/   \==3
-//     >***<
-// 1===|---|===4
-//     >***<
-//  2==\___/==5
-
-class WalkForward	//Direction
-{
-
-private:
-  DataObject LoopPatroon[8];
-  DataObject HuidigePositie;
-  hexapod *FireFly;
-
-  //Startup VARIABLES
-  void init(hexapod *pntr)
-  {
-    LoopPatroon[0](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
-    LoopPatroon[1](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
-    LoopPatroon[2](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
-    LoopPatroon[3](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
-    LoopPatroon[4](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
-    LoopPatroon[5](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
-    LoopPatroon[6](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
-    LoopPatroon[7](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
-
-    FireFly = pntr;
-  }
-  
-  void send(DataObject pntr)
-  {
-    FireFly->CoreSend(&pntr);
-  }
-
-
-public:
-  void Run()
-  {
-    //Start runnning code until exit or expection raises.
-    send(LoopPatroon[0]);//Test
-  }
-
-};
-
-#endif
-
@@ -1,60 +0,0 @@
-//Ultrasone.cpp
-//  V3.0
-
-#include "Ultrasone.h"
-
-void Ultrasone::GetRadar(Data *DataLine) 
-{
-  DataLine->HeadTime = 0;
-
-#ifdef DEBUGUS
-  Serial.print("### Ultrasone Direction/Position: ");
-  Serial.print(CurrentDirection);
-  Serial.print(", ");
-  Serial.println(CurrentPosition);
-#endif
-
-  if (CurrentDirection == 0) // Left
-  {
-    if (CurrentPosition > MaxLeft)
-    {
-      CurrentPosition--;
-      DataLine->HeadAngle = CurrentPosition;
-
-      Con.ConvertHead(DataLine);
-      SSC32.MoveHead(DataLine);
-
-      Serial.print("### Ultrasone Distance: ");
-      Serial.println(DataLine->FireFly.GetUltraSoneDistance());
-    }
-    else
-      CurrentDirection = 1;
-  }
-  else if(CurrentDirection == 1) // Right
-  {
-    if (CurrentPosition < MaxRight)
-    {
-      CurrentPosition++;
-      DataLine->HeadAngle = CurrentPosition;
-
-      Con.ConvertHead(DataLine);
-      SSC32.MoveHead(DataLine);
-
-      Serial.print("### Ultrasone Distance: ");
-      Serial.println(DataLine->FireFly.GetUltraSoneDistance());
-    }
-    else
-      CurrentDirection = 0;
-  }
-}
-
-
-/*
-    [Vector]
-    X = Distance / Cos( CurrentPosition * pi2rad );
-    Y = Distance / sin( CurrentPosition / pi2rad );    
-*/
-
-
-
-
@@ -1,39 +0,0 @@
-//Ultrasone.h
-//  V3.0
-
-#ifndef ULTRASONE_H
-#define ULTRASONE_H
-
-#include "Arduino.h"
-#include "Data.h"
-#include "Servos.h"
-#include "Converter.h"
-
-#define MaxLeft -45
-#define MaxRight 45
-
-class  Ultrasone
-{
-private:
-  Servos SSC32;
-  Converter Con;
-
-public:
-  void GetRadar(Data *DataLine);
-
-  int CurrentPosition;
-  byte CurrentDirection;
-
-  Ultrasone()
-  {
-    CurrentPosition = 0; 
-    CurrentDirection = 0; // Left
-  }
-};
-
-
-#endif
-
-
-
-
@@ -1,37 +0,0 @@
-// Watchdog.cpp
-
-#include "Watchdog.h"
-
-void Watchdog::CheckTime(Data *DataLine)
-{
-  if ((millis() >= (DataLine->LastSendTime + DataLine->WalkTime)) & (DataLine->ReadyToSend = true ))
-  {
-    DataLine->Send = 1;
-
-    DataLine->LastSendTime = millis();
-#ifdef DEBUGW
-    Serial.println("### WatchDog->Watchdog ###");
-    Serial.print("### ");
-    Serial.print( millis());
-    Serial.println(" WatchDog->DataLine.Send = True");
-    Serial.print("### WatchDog->Watchdog Walktime: ");
-    Serial.println(DataLine->WalkTime);
-#endif
-  }
-  else if ((DataLine->LastSendTime == 0 ) & (DataLine->ReadyToSend = true))
-  {
-    DataLine->Send = 1;
-
-    DataLine->LastSendTime = millis();
-#ifdef DEBUGW
-    Serial.println("### WatchDog->Watchdog Startup ###");
-    Serial.print("### ");
-    Serial.print( millis());
-    Serial.println(" WatchDog->DataLine.Send = True");
-    Serial.print("### WatchDog->Watchdog Walktime: ");
-    Serial.println(DataLine->WalkTime);
-#endif
-  }
-}
-
-
@@ -1,20 +0,0 @@
-// Watchdog.h
-//  V3.0
-
-#ifndef WATCHDOG_H
-#define WATCHDOG_H
-
-#include "Arduino.h"
-#include "Data.h"
-
-class Watchdog 
-{
-public:
-  void CheckTime(Data *DataLine);
-
-};
-
-
-#endif
-
-
Author	SHA1	Message	Date
mangavalk	81dbbdc834	update	2022-12-04 23:22:48 +01:00
Administrator	1f1715c841	First commit	2014-02-17 11:50:52 +01:00