Rework HexapodClass

Imported from 'hexapod 4.rar'.

2012-simulation/processing-3d/hexapod/FootClass.pde

@@ -0,0 +1,228 @@
+class Foot
+{
+  float TranslateX, TranslateY, TranslateZ;
+  boolean leftLegorRight=false;
+
+  void SetFootCoordinates(PVector P)
+  {
+    Xi = P.x;
+    Yi = P.y;
+    Zi = P.z;
+  }
+
+  void Translate(int x, int y, int z)
+  {
+    TranslateX = x;  
+    TranslateY = y;
+    TranslateZ = z;
+  }
+
+  void Translate(PVector i)
+  {
+    TranslateX = i.x;  
+    TranslateY = i.y;
+    TranslateZ = i.z;
+  }
+
+  void DrawFoot()
+  {
+    setleg(leftLegorRight);
+
+    pushMatrix();
+
+    translate(TranslateX, TranslateY, TranslateZ);
+
+    stroke(!error?255:0, !error?0:255, 0);
+    noFill();
+    beginShape();
+
+    Vertex(0, 0, 0);
+    Vertex(0, 0, 0);
+    if (leftLegorRight)
+      Vertex(-1*X2, -1*Y2, Z2);
+    else
+      Vertex(X2, -1*Y2, Z2);
+
+    endShape(); 
+
+    beginShape();
+
+    if (leftLegorRight)
+    {
+      Vertex(-1*X2, -1*Y2, Z2);
+      Vertex(-1*X2, -1*Y2, Z2);
+      Vertex(-1*X, Y, -1*Z);
+    } else
+    {
+      Vertex(X2, -1*Y2, Z2);
+      Vertex(X2, -1*Y2, Z2);
+      Vertex(X, Y, -1*Z);
+    }
+
+    endShape();       
+
+    popMatrix();
+  }
+
+  //  Inverse Kinemetics Region
+  double l3, s, O1, O2, O3, X2, Y2, Z2;
+  double l1=10, l2=15;
+  double Xi, Yi, Zi;
+  double X, Y, Z;
+  boolean error=false;
+
+  void RotateX()
+  {
+    Y = Y * cos(radians(rotationX)) - Z * sin(radians(rotationX));
+    Z = Y * sin(radians(rotationX)) + Z * cos(radians(rotationX));
+  }
+
+  void RotateY()
+  {
+    Z = Z * cos(radians(rotationY)) - X * sin(radians(rotationY));
+    X = Z * sin(radians(rotationY)) + X * cos(radians(rotationY));
+  }
+
+  void RotateZ()
+  {
+    X = X * cos(radians(rotationZ)) - Y * sin(radians(rotationZ));
+    Y = X * sin(radians(rotationZ)) + Y * cos(radians(rotationZ));
+  }
+
+  void RL3 ()
+  {
+    double x = X;
+    double z = Z;
+
+    if ((x == 0) && (z == 0)) 
+      l3 = 0;
+    else l3 = sqrt((float)(x*x + z*z));
+
+    if (x < 0)
+      l3 = l3 * -1;
+  }
+
+  float O1 ()
+  {
+    RL3();
+
+    double x = X;
+    double z = Z;
+    double r;
+
+    if ((x != 0) & (z != 0)) {
+      double a = (z / x);
+      return atan((float)(a));
+    } else
+      return atan(0.0); // Math Error Protection.
+  }
+
+  double T1 ()
+  {
+    double x = X;
+    double y = Y;
+    double z = Z;
+    double x2 = x * x;
+    double y2 = y * y;
+    double z2 = z * z;
+    double l32 = l3 * l3;
+
+    s = sqrt((float)(x2 + y2 + z2));
+
+    double t1 = 0;
+
+    double s2 = s * s;
+
+    if ((y == 0) && (l3 == 0))
+      t1 = 0; // Math Error Protection.
+    else
+      t1 = (atan2((float)(l3), (float)(y)));
+
+    double a = (l1 * l1) - (l2*l2) + s2;
+    double b = 2 * l1 * s;
+    double t2 = acos((float)(a / b));
+
+    double ret = 0;
+
+    ret = t1 + abs((float)(t2));
+
+    return ret;
+  }
+
+  double T3 ()
+  {
+    return (acos((float)(((l1*l1) + (l2*l2) - (s*s)) / (2 * l1 * l2))));
+  }
+
+  double PI = 3.14159265;
+
+  void setleg (boolean Side)
+  {
+    X = Xi;
+    Y = Yi;
+    Z = Zi;
+
+    //  Gaits
+    if (leftLegorRight)
+    {  //  Right
+      X = (-1*X) + TranslateX;
+      Z = (-1*Z) + TranslateZ;
+    } else
+    {
+      X = Xi + TranslateX;
+      Z = (-1*Z) + TranslateZ;
+    }
+
+    RotateY();
+    RotateX();
+    RotateZ();
+
+    //  Remove gaits
+    if (leftLegorRight)
+    {  //  Right
+      X = -1 * (X - TranslateX);
+      Z = -1 * (Z - TranslateZ);
+    } else
+    {
+      X -= TranslateX;
+      Z = -1 * (Z - TranslateZ);
+    }
+
+    double a = (90 - degrees((float)(O1())));
+    double b = (180 - degrees((float)(T1())));
+    double c = degrees((float)(T3()));
+
+    if ((a >= 15) & (a <= 165)
+      & (b >= 15) & (b <= 165)
+      & (c >= 15) & (c <= 165))
+    {
+      error = false;
+
+      O1 = a;
+      O2 = b;
+      O3 = c;
+
+      double d = sin((float)(b*(PI/180)));
+      if ( d != 0 )
+        X2 = d * l1;
+      else
+        X2 = 0;
+
+      d = cos((float)(b*(PI/180)));
+      if ( d != 0 )
+        Y2 = d * l1;
+      else
+        Y2 = 0;
+
+      d = sin((float)((a-90)*(PI/180)));
+      if ( d != 0 )
+        Z2 = d * abs((float)(X2));
+      else
+        Z2 = 0;
+    } else
+    {
+      error = true;
+    }
+  }
+}
+

2012-simulation/processing-3d/hexapod/HexapodClass.pde

@@ -0,0 +1,357 @@
+Foot foot1 = new Foot();
+Foot foot2 = new Foot();
+Foot foot3 = new Foot();
+Foot foot4 = new Foot();
+Foot foot5 = new Foot();
+Foot foot6 = new Foot();
+
+//	9.5
+//	14
+//	9.5
+
+//	10
+//	10
+
+PVector point1 = new PVector(4.75, 0, 10);
+PVector point2 = new PVector(7, 0, 0);
+PVector point3 = new PVector(4.75, 0, -10);
+PVector point4 = new PVector(-4.75, 0, -10);
+PVector point5 = new PVector(-7, 0, 0);
+PVector point6 = new PVector(-4.75, 0, 10);
+
+float rotationX=0;
+float rotationY=0;
+float rotationZ=0;
+
+boolean robotStanding = false;
+
+float robotHeigth = 12;
+
+void drawTestSpot(PVector p, boolean leftLegorRight)
+{
+  beginShape();
+  stroke(0, 0, 255);
+  if (leftLegorRight)
+  {
+    Vertex((-1*p.x)-1, p.y, (-1*p.z)-1);
+    Vertex((-1*p.x)-1, p.y, (-1*p.z)+1);
+    Vertex((-1*p.x)+1, p.y, (-1*p.z)+1);
+    Vertex((-1*p.x)+1, p.y, (-1*p.z)-1);
+    Vertex((-1*p.x)-1, p.y, (-1*p.z)-1);
+  } else
+  {
+    Vertex(p.x-1, p.y, (-1*p.z)-1);
+    Vertex(p.x-1, p.y, (-1*p.z)+1);
+    Vertex(p.x+1, p.y, (-1*p.z)+1);
+    Vertex(p.x+1, p.y, (-1*p.z)-1);
+    Vertex(p.x-1, p.y, (-1*p.z)-1);
+  }
+  endShape();
+}
+
+/*  //  Animation old.
+ PVector Animation(int addition)
+ {
+ return animationSubSteps(walk1[((animationStep+addition)%6)], walk1[((animationStep+addition+1)%6)]);
+ }
+ 
+ PVector animationSubSteps(PVector from, PVector to)
+ {
+ PVector newStep = new PVector();
+ int steps=5;
+ 
+ if (animationSubStep < steps)
+ {
+ float differenceX = (to.x - from.x) / steps;
+ float differenceY = (to.y - from.y) / steps;
+ float differenceZ = (to.z - from.z) / steps;
+ 
+ newStep.x = from.x + ( differenceX * animationSubStep );
+ newStep.y = from.y + ( differenceY * animationSubStep );
+ newStep.z = from.z + ( differenceZ * animationSubStep );
+ } else
+ {
+ animationSubStep=0;
+ animationStep++;
+ newStep = to;
+ }
+ 
+ return newStep;
+ }
+ */
+
+
+PVector []walk1 = new PVector[6];
+
+//  Animation new
+int animationStep=0;
+int animationSubStep=0;
+boolean animationRepeat = false;
+boolean animationRepeatComplete = false;
+int animationSpeed = 20;
+PVector animationOld;
+
+PVector Animation(PVector from, PVector to)
+{
+  PVector[] newAnimation = new PVector[2];
+  newAnimation[0] = from;
+  newAnimation[1] = to;
+  return Animation(newAnimation, 2, 0);
+}
+
+PVector Animation(PVector[] animation, int animationLength, int addition)
+{
+  PVector newStep = new PVector();
+
+  PVector from = animation[((animationStep+addition) % animationLength)];
+  PVector to = animation[((animationStep+addition+1) % animationLength)];
+
+  /*if (!((animationStep >= animationLength - 1) && !animationRepeat))
+   {
+   if (timerAnimation.delay(animationSpeed))
+   {
+   animationSubStep++;
+   }
+   } else
+   {
+   return animationOld;
+   }*/
+  if ( (animationRepeatComplete) || ((animationStep >= animationLength - 1) && !animationRepeat) )
+  {
+    return animationOld;
+  } else {
+    /*if (timerAnimation.delay(animationSpeed))
+     {
+     animationSubStep++;
+     }*/
+
+    int steps=5;
+
+    if (animationSubStep < steps)
+    {
+      float differenceX = (to.x - from.x) / steps;
+      float differenceY = (to.y - from.y) / steps;
+      float differenceZ = (to.z - from.z) / steps;
+
+      newStep.x = from.x + ( differenceX * animationSubStep );
+      newStep.y = from.y + ( differenceY * animationSubStep );
+      newStep.z = from.z + ( differenceZ * animationSubStep );
+    } else
+    {
+      animationSubStep = 0;
+
+      if ((animationStep >= animationLength - 2) && !animationRepeat)
+      {
+        animationRepeatComplete = true;
+        animationStep = 0;
+        animationOld = to;
+        return to;
+      } else if (!animationRepeatComplete)
+      {
+        animationStep++;
+      }
+    }
+
+    return newStep;
+  }
+}
+
+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);  
+  foot1.DrawFoot();
+
+  foot2.Translate(point2);  
+  foot2.DrawFoot();
+
+  foot3.Translate(point3);  
+  foot3.DrawFoot();
+
+  foot4.Translate(point4);
+  foot4.leftLegorRight=true;
+  foot4.DrawFoot();
+
+  foot5.Translate(point5);
+  foot5.leftLegorRight=true;
+  foot5.DrawFoot();
+
+  foot6.Translate(point6);
+  foot6.leftLegorRight=true;
+  foot6.DrawFoot();
+}
+
+void RobotWalk()
+{
+  if (robotStanding)
+  {
+    if (!animationRepeatComplete)
+      if (timerAnimation.delay(animationSpeed))
+        animationSubStep++;
+
+    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));
+  }
+}
+
+void DrawGround()
+{
+  noStroke();  //  Ground
+  fill(128);
+  beginShape();  
+  Vertex(-60, robotHeigth, -60);
+  Vertex(60, robotHeigth, -60);
+  Vertex(60, robotHeigth, 60);
+  Vertex(-60, robotHeigth, 60);
+  Vertex(-60, robotHeigth, -60);
+  endShape();
+}
+
+void DrawTestSpots()
+{
+  /*drawTestSpot(new PVector((Animation(walk1, 6, 2).x + point1.x), 
+   robotHeigth, 
+   (Animation(walk1, 6, 2).z - point1.z)), false);
+   drawTestSpot(new PVector((Animation(walk1, 6, 3).x + point2.x), 
+   robotHeigth, 
+   (Animation(walk1, 6, 3).z - point2.z)), false);
+   drawTestSpot(new PVector((Animation(walk1, 6, 4).x + point3.x), 
+   robotHeigth, 
+   (Animation(walk1, 6, 4).z - point3.z)), false);
+   drawTestSpot(new PVector((Animation(walk1, 6, 1).x - point4.x), 
+   robotHeigth, 
+   (Animation(walk1, 6, 1).z - point4.z)), true);
+   drawTestSpot(new PVector((Animation(walk1, 6, 0).x - point5.x), 
+   robotHeigth, 
+   (Animation(walk1, 6, 0).z - point5.z)), true);
+   drawTestSpot(new PVector((Animation(walk1, 6, 5).x - point6.x), 
+   robotHeigth, 
+   (Animation(walk1, 6, 5).z - point6.z)), true);*/
+}
+
+void DrawBody()
+{
+  if (!robotStanding)
+  {
+    rotationX = 0;
+    rotationY = 0;
+    rotationZ = 0;
+  }
+  //  Rotate body
+  rotateX(radians(-1*rotationX));
+  rotateY(radians(-1*rotationY));
+  rotateZ(radians(-1*rotationZ));
+
+  stroke(100, 100, 100);  //  Body
+  fill(0, 0, 255);
+  beginShape();  
+  Vertex(point1.x, point1.y, point1.z);
+  Vertex(point2.x, point2.y, point2.z);
+  Vertex(point3.x, point3.y, point3.z);
+  Vertex(point4.x, point4.y, point4.z);
+  Vertex(point5.x, point5.y, point5.z);
+  Vertex(point6.x, point6.y, point6.z);
+  Vertex(point1.x, point1.y, point1.z);
+  endShape(); 
+  stroke(100, 100, 100);  //  Body top
+  fill(0, 255, 0);
+  beginShape();  
+  Vertex(point1.x, point1.y, point1.z);
+  Vertex(point2.x, point2.y, point2.z);
+  Vertex(point5.x, point5.y, point5.z);
+  Vertex(point6.x, point6.y, point6.z);
+  Vertex(point1.x, point1.y, point1.z);
+  endShape(); 
+
+  RobotStandup();
+
+  RobotWalk();
+
+  DrawFeet();
+}
+
+PVector []standup = new PVector[2];
+int standupStep = 0;
+
+void RobotStandup()
+{  
+  standup[0] = new PVector(5, 6, 0);
+  standup[1] = new PVector(10, 6, 0);
+
+  if (!robotStanding)
+  {
+    if (!animationRepeatComplete)
+      if (timerAnimation.delay(animationSpeed))
+        animationSubStep++;
+
+    animationRepeat = false;
+    animationSpeed = 250;
+
+    switch (standupStep)
+    {
+    case 0:
+      foot1.SetFootCoordinates(Animation(standup, 2, 0));
+      foot2.SetFootCoordinates(Animation(standup, 2, 0));
+      foot3.SetFootCoordinates(Animation(standup, 2, 0));//
+      foot4.SetFootCoordinates(Animation(standup, 2, 0));//
+      foot5.SetFootCoordinates(Animation(standup, 2, 0));
+      foot6.SetFootCoordinates(Animation(standup, 2, 0));
+
+      if (animationRepeatComplete)
+      {
+        animationRepeatComplete = false;
+        standupStep = 1;
+        animationStep = 0;
+      }
+      break;
+
+    case 1:
+      foot1.SetFootCoordinates(Animation(standup[1], walk1[2]));
+      foot2.SetFootCoordinates(Animation(standup[1], walk1[3]));
+      foot3.SetFootCoordinates(Animation(standup[1], walk1[4]));//
+      foot4.SetFootCoordinates(Animation(standup[1], walk1[1]));//
+      foot5.SetFootCoordinates(Animation(standup[1], walk1[0]));
+      foot6.SetFootCoordinates(Animation(standup[1], walk1[5]));
+
+      if (animationRepeatComplete)
+      {
+        robotStanding = true;
+        animationRepeatComplete = false;
+        standupStep = 2;
+      }
+      break;
+    }
+  }
+}
+

2012-simulation/processing-3d/hexapod/hexapod.pde

@@ -0,0 +1,81 @@
+void setup() {
+  size(600, 600, P3D);
+  background(0);
+
+  walk1[0] = new PVector(12, robotHeigth, -5);
+  walk1[1] = new PVector(12, robotHeigth, 0);
+  walk1[2] = new PVector(12, robotHeigth, 5);
+  walk1[3] = new PVector(12, robotHeigth-2, 5);
+  walk1[4] = new PVector(12, robotHeigth-2, 0);
+  walk1[5] = new PVector(12, robotHeigth-2, -5);
+}
+
+CustomTimer timerAnimation = new CustomTimer();
+CustomTimer timerXRotation = new CustomTimer();
+CustomTimer timerYRotation = new CustomTimer();
+CustomTimer timerZRotation = new CustomTimer();
+CustomTimer timerScene = new CustomTimer();
+
+float counterRotation=0;
+int counterXRotation=0;
+int counterYRotation=0;
+int counterZRotation=0;
+int counterScene=0;
+
+float rotationRange = 8;
+
+void draw()
+{  
+  background(0);
+
+  translate(width/2, height/2, 0);
+
+  switch(counterScene)
+  {
+  case 0:
+    rotateX(-1*(PI/10)); 
+    rotateY(radians(-210));
+    break;
+  case 1:
+    rotateY(counterRotation);
+    break;
+  case 2:
+    rotateX(radians(-90));
+    rotateY(radians(180));
+    break;
+  default:
+    counterScene=0;
+  }
+
+  rotationX = ( counterXRotation%(rotationRange*4) < (rotationRange*2) ? -rotationRange+counterXRotation%(rotationRange*2) : rotationRange+(-1*(counterXRotation%(rotationRange*2))) );
+  rotationY = ( counterYRotation%(rotationRange*4) < (rotationRange*2) ? -rotationRange+counterYRotation%(rotationRange*2) : rotationRange+(-1*(counterYRotation%(rotationRange*2))) );
+  rotationZ = ( counterZRotation%(rotationRange*4) < (rotationRange*2) ? -rotationRange+counterZRotation%(rotationRange*2) : rotationRange+(-1*(counterZRotation%(rotationRange*2))) );
+
+  //  Animation
+  if (timerZRotation.delay(25))
+  {
+    counterRotation-=0.012f;
+    counterZRotation++;
+  }
+  if (timerXRotation.delay(50))
+  {
+    counterXRotation++;
+  }
+  if (timerYRotation.delay(75))
+  {
+    counterYRotation++;
+  }
+  if (timerScene.delay(5000))
+  {
+    counterScene++;
+  }
+
+  scale(6);
+
+  DrawGround();
+
+  DrawTestSpots();
+
+  DrawBody();
+}
+

2012-simulation/processing-3d/hexapod/sketch.properties

@@ -0,0 +1,2 @@
+mode.id=processing.mode.java.JavaMode
+mode=Java

2014-ik-core-task-queue/Hexapod.h

@@ -1,317 +0,0 @@
-// Version 1
-
-#ifndef HEX
-#define HEX
-
-#include "Arduino.h"
-#include "SerD.h"
-#include <QueueList.h>
-
-// Angle to Pulse Length converter.
-#define smin0 600
-#define smin1 960
-#define smin2 600
-#define smin3 600
-#define smax0 2400
-#define smax1 2100
-#define smax2 2400
-#define smax3 2400
-
-// Task Pipeline
-#define H_TASK	001
-#define H_IK	002
-#define	H_IKER	003
-#define H_ATPC	004
-
-// ProgramControl
-#define PC_EMPTY	101
-#define PC_NEEDDATA	102
-
-//    LAYOUT
-//      _U_
-//  0==/   \==3
-//     >***<
-// 1===|---|===4
-//     >***<
-//  2==\___/==5
-
-class Hexapod
-{
-private:
-	// Task Pipeline.
-	QueueList<int> TaskQueue;
-	QueueList<int> Parameter;
-
-	// Program Control
-	int PcCommand;
-
-	// Timing.
-	int OldTime;
-	int TimeBetweenNewPosition;
-
-	/* Servo Data
-	# Including coordinate, Angle and Pulse Length.
-	*/
-	boolean DataReady;
-	SerD ServoData[6];
-
-	// Inverse Kinemetics.
-	float s;
-	float l3;
-#define l2 15
-#define l1 10
-
-	void	RL3 (int i)
-	{
-		float x = ServoData[i].x;
-		float z = ServoData[i].z;
-
-		if ((x == 0) && (z == 0)) 
-			l3 = 0;
-		else l3 = hypot(z, x);
-
-		if (x < 0)
-			l3 *= -1;
-	}
-
-	float	O1 (int i)
-	{
-		RL3(i);
-
-		float x = ServoData[i].x;
-		float z = ServoData[i].z;
-		float r;
-
-		if ((x != 0) & (z != 0)){
-			double a = (z / x);
-			return atan(a);
-		}
-		else
-			return atan(0.0); // Math Error Protection.
-	}
-
-	float	T1 (int i)
-	{
-		float x = ServoData[i].x;
-		float y = ServoData[i].y;
-		float z = ServoData[i].z;
-		float x2 = x * x;
-		float y2 = y * y;
-		float z2 = z * z;
-		float l32 = l3 * l3;
-
-		s = sqrt(x2 + y2 + z2);
-
-		float t1 = 0;
-
-		float s2 = s * s;
-
-		if ((y == 0) && (l3 == 0))
-			t1 = 0; // Math Error Protection.
-		else
-			t1 = (atan2(float(l3), float(y)));
-
-		float a = (l1 * l1) - (l2*l2) + s2;
-		float b = 2 * l1 * s;
-		float t2 = acos(a / b);
-
-		float ret = 0;
-
-		ret = t1 + abs(t2);
-
-		return ret;
-	}
-
-	float	T3 ()
-	{
-		return (acos(((l1*l1) + (l2*l2) - (s*s)) / (2 * l1 * l2)));
-	}
-
-	void	setleg (int i)
-	{
-		if (i < 3)
-		{
-			float a = ((float)90 - degrees(O1(i)));
-			float b = ((float)180 - degrees(T1(i)));
-			float c = degrees(T3());
-
-			if ((a >= 0) & (a <= 180)
-				& (b >= 0) & (b <= 180)
-				& (c >= 0) & (c <= 180))
-			{
-				ServoData[i].o1 = a;
-				ServoData[i].o2 = b;
-				ServoData[i].o3 = c;
-			}
-			else
-			{
-				TaskQueue.push(H_IKER);
-				Parameter.push(i);
-			}
-		}
-		else
-		{
-			float a = ((float)90 + degrees(O1(i)));
-			float b = degrees(T1(i));
-			float c = ((float)180 - degrees(T3()));
-
-			if ((a >= 0) & (a <= 180)
-				& (b >= 0) & (b <= 180)
-				& (c >= 0) & (c <= 180))
-			{
-				ServoData[i].o1 = a;
-				ServoData[i].o2 = b;
-				ServoData[i].o3 = c;
-			}
-			else
-			{
-				TaskQueue.push(H_IKER);
-				Parameter.push(i);
-			}
-		}
-	}
-
-	void	IK()
-	{
-		for (int i=0; i<6; i++)
-			setleg(i);
-	}
-
-	// Angle to Pulse Length converter.
-
-	int ConverttoMS(int Position, int low, int high)
-	{
-		int tmp = ( Position * ( ( high - low ) / 180 ) );
-		return low + tmp;
-	}
-
-	void ConvertAngleToPulseLength()
-	{
-		for (int i=0; i<6; i++)
-		{
-			ServoData[i].t1 = ConverttoMS(ServoData[i].o1, smin0, smax0);
-			ServoData[i].t2 = ConverttoMS(ServoData[i].o2, smin1, smax1);
-			ServoData[i].t3 = ConverttoMS(ServoData[i].o3, smin2, smax2);
-		}
-	}
-
-	void ProgramControl( int Command )
-	{
-		// Drop task from queue
-		TaskQueue.pop();
-
-		// Check Command.
-		switch (Command)
-		{
-		case PC_EMPTY:
-			{
-
-				break;
-			}
-
-		case PC_NEEDDATA:
-			{
-				/*
-				Queue = {
-				Get Move
-				Do IK
-				Convert To MS
-				Send }
-				*/
-				break;
-			}
-
-		default:
-			break;
-		}
-	}
-
-public:
-	// Task Pipeline.
-	void	loop()
-	{
-		PcCommand = 0;
-		do{
-			/*
-			Runmonitoing methods and
-			Timingdependent methods.
-			*/
-			if (millis() >= (OldTime + TimeBetweenNewPosition))
-			{
-				OldTime = millis();
-			}
-
-			//Add Task toqueue
-			TaskQueue.push(H_TASK);
-
-			//task queue.
-
-			switch ( TaskQueue.peek() )
-			{
-
-			case H_TASK:
-				{
-
-					break;
-				}
-
-			case H_IK:          // Do InverseKinemetics.
-				{
-					IK();
-					break;
-				}
-
-			case H_IKER: // Inverse Kinemetics Error.
-				{
-					while ( !Parameter.isEmpty() )
-					{
-						// Go troughtparameters.
-						/*  
-						#      W
-						#      I
-						#      P
-						*/
-					}
-
-					break;
-				}
-
-			case H_ATPC: // Angel to pulse length converter.
-				{
-					ConvertAngleToPulseLength();
-					DataReady = true;
-					break;
-				}
-
-			case H_SEND:
-				{
-					if (DataReady)
-					{
-						// Send
-						DataReady = false;
-						// Get New Move
-					}
-					else
-					{
-						PcCommand = PC_NEEDDATA;
-					}
-					break;
-				}
-
-			default:     // TaskList was empty.
-				{
-					// Do something when there is no task.
-					PcCommand = PC_EMPTY;
-					break;
-				}
-			}
-
-
-			//Program Control.
-			ProgramControl( PcCommand );
-		} while (1);
-	}
-};
-
-#endif
-

2014-ik-core-task-queue/HexapodRobot.ino

@@ -1,17 +0,0 @@
-// Version 1
-#include "Hexapod.h"
-#include <QueueList.h>
-
-void setup()
-{
-  
-}
-
-Hexapod hexapod;
-
-void loop()
-{
-	hexapod.loop();
-}
-
-

2014-ik-core-task-queue/SerD.h

@@ -1,47 +0,0 @@
-// Version 1
-
-#ifndef SerD_H
-#define SerD_H
-
-class SerD
-{
-public:
-
-	// Coordinate
-	int x;
-	int y;
-	int z;
-
-	// Angles
-	int o1;
-	int o2;
-	int o3;
-
-	// Pulse Length.
-	int t1;
-	int t2;
-	int t3;
-
-	//Input
-	SerD& operator() (int X, int Y, int Z)
-	{
-		x = X;
-		y = Y;
-		z = Z;
-
-		return *this;
-	}
-
-	SerD& operator= (SerD& R)
-	{
-		x = R.x;
-		y = R.y;
-		z = R.z;
-
-		return *this;
-	}
-
-};
-
-#endif
-

2016-ssc32-processing-port/CustomTimer.h

@@ -1,33 +0,0 @@
-// Version 1
-
-#ifndef CustomTimer_H
-#define CustomTimer_H
-
-class CustomTimer
-{
-  int time;
-  boolean start;
-  public: CustomTimer()
-  {
-    start=false; 
-  }
-  public: boolean Delay(int delay)
-  {
-    if (!start)
-    {
-      time = millis();
-      start = true;
-    }
-    if (millis() - time >= delay)
-    {
-      start = false;
-      return true;
-    } 
-    else
-      return false;
-  }
-};
-
-#endif
-
-

2016-ssc32-processing-port/FootClass.h

@@ -1,259 +0,0 @@
-// Version 1
-
-#ifndef Foot_H
-#define Foot_H
-
-#include "Vector.h";
-#include "Global.h"
-
-const double pi = 3.14159265359;
-
-class Foot
-{
-  public:
-    float TranslateX, TranslateY, TranslateZ;
-    boolean Invert;
-
-    void SetFootCoordinates(Vector P)
-    {
-      Xi = P.x;
-      Yi = P.y;
-      Zi = P.z;
-    }
-
-    // ?used to put in position from body?
-    void Translate(int x, int y, int z)
-    {
-      TranslateX = x;
-      TranslateY = y;
-      TranslateZ = z;
-    }
-
-    void Translate(Vector i)
-    {
-      TranslateX = i.x;
-      TranslateY = i.y;
-      TranslateZ = i.z;
-    }
-
-    //  Inverse Kinemetics Region
-    double l3, s, O1, O2, O3, X2, Y2, Z2;
-    double l1, l2;
-    double Xi, Yi, Zi;
-    double X, Y, Z;
-    boolean error;
-
-    void RotateX()
-    {
-      Y = Y * cos(radians(rotationX)) - Z * sin(radians(rotationX));
-      Z = Y * sin(radians(rotationX)) + Z * cos(radians(rotationX));
-    }
-
-    void RotateY()
-    {
-      Z = Z * cos(radians(rotationY)) - X * sin(radians(rotationY));
-      X = Z * sin(radians(rotationY)) + X * cos(radians(rotationY));
-    }
-
-    void RotateZ()
-    {
-      X = X * cos(radians(rotationZ)) - Y * sin(radians(rotationZ));
-      Y = X * sin(radians(rotationZ)) + Y * cos(radians(rotationZ));
-    }
-
-    void RL3 ()
-    {
-      double x = X;
-      double z = Z;
-
-      if ((x == 0) && (z == 0))
-        l3 = 0;
-      else l3 = sqrt((float)(x * x + z * z));
-
-      if (x < 0)
-        l3 = l3 * -1;
-    }
-
-    float FO1 ()
-    {
-      RL3();
-
-      double x = X;
-      double z = Z;
-      double r;
-
-      if ((x != 0) & (z != 0)) {
-        double a = (z / x);
-        return atan((float)(a));
-      }
-      else
-        return atan(0.0); // Math Error Protection.
-    }
-
-    float T1 ()
-    {
-      float x = X;
-      float y = Y;
-      float z = Z;
-      float x2 = x * x;
-      float y2 = y * y;
-      float z2 = z * z;
-      float l32 = l3 * l3;
-
-      s = sqrt((float)(x2 + y2 + z2));
-
-      float t1 = 0;
-
-      float s2 = s * s;
-
-      if ((y == 0) && (l3 == 0))
-        t1 = 0; // Math Error Protection.
-      else
-        t1 = (atan2((float)(l3), (float)(y)));
-
-      float a = (l1 * l1) - (l2 * l2) + s2;
-      float b = 2 * l1 * s;
-      float t2 = acos(a / b);
-
-      float ret = 0;
-
-      ret = t1 + abs(t2);
-
-      return ret;
-    }
-
-    float T3 ()
-    {
-      return (acos((float)(((l1 * l1) + (l2 * l2) - (s * s)) / (2 * l1 * l2))));
-    }
-
-    void setleg()
-    {
-      setleg(Invert);
-    }
-
-    void setleg(boolean Side)
-    {
-      l1 = 10;
-      l2 = 15;
-
-      X = Xi;
-      Y = Yi;
-      Z = Zi;
-
-      //  Rotation from body point
-      if (Invert)
-      { //  Right
-        X = (-1 * X) + TranslateX;
-        Z = (-1 * Z) + TranslateZ;
-      }
-      else
-      {
-        X = Xi + TranslateX;
-        Z = (-1 * Z) + TranslateZ;
-      }
-
-      RotateY();
-      RotateX();
-      RotateZ();
-
-      //  Remove gaits
-      if (Invert)
-      { //  Right
-        X = -1 * (X - TranslateX);
-        Z = -1 * (Z - TranslateZ);
-      }
-      else
-      {
-        X -= TranslateX;
-        Z = -1 * (Z - TranslateZ);
-      }
-
-      if (Invert)
-      { //  right
-        double a = (90 - degrees(FO1()));
-        double b = (180 - degrees(T1()));
-        double c = degrees(T3());
-
-        /*if ((a >= 15) & (a <= 165)
-            & (b >= 15) & (b <= 165)
-            & (c >= 15) & (c <= 165))
-          {*/
-        error = false;
-
-        O1 = a;
-        O2 = b;
-        O3 = c;
-
-        double d = sin((float)(b * (pi / 180)));
-        if ( d != 0 )
-          X2 = d * l1;
-        else
-          X2 = 0;
-
-        d = cos((float)(b * (pi / 180)));
-        if ( d != 0 )
-          Y2 = d * l1;
-        else
-          Y2 = 0;
-
-        d = sin((float)((a - 90) * (pi / 180)));
-        if ( d != 0 )
-          Z2 = d * abs((float)(X2));
-        else
-          Z2 = 0;
-        /*}
-          else
-          {
-          error = true;
-          }*/
-      }
-      else
-      {
-        double a = (90 - degrees((float)(FO1())));
-        double b = degrees((float)(T1()));
-        double c = 180 - degrees((float)(T3()));
-
-        /*if ((a >= 15) & (a <= 165)
-            & (b >= 15) & (b <= 165)
-            & (c >= 15) & (c <= 165))
-          {*/
-        error = false;
-
-        O1 = a;
-        O2 = b;
-        O3 = c;
-
-        a = (90 - degrees((float)(FO1())));
-        b = (180 - degrees((float)(T1())));
-        c = degrees((float)(T3()));
-
-        double d = sin((float)(b * (pi / 180)));
-        if ( d != 0 )
-          X2 = d * l1;
-        else
-          X2 = 0;
-
-        d = sin((float)(b * (pi / 180)));
-        if ( d != 0 )
-          Y2 = d * l1;
-        else
-          Y2 = 0;
-
-        d = sin((float)((a - 90) * (pi / 180)));
-        if ( d != 0 )
-          Z2 = d * abs((float)(X2));
-        else
-          Z2 = 0;
-        /*}
-          else
-          {
-          error = true;
-          Serial.println("ERROR");
-          }*/
-      }
-    }
-};
-
-#endif
-

2016-ssc32-processing-port/Global.h

@@ -1,30 +0,0 @@
-// Version 1
-
-#ifndef Global_H
-#define Global_H
-
-float rotationX = 0;
-float rotationY = 0;
-float rotationZ = 0;
-
-CustomTimer timerAnimation = CustomTimer();
-CustomTimer TimerFPS_SERVO = CustomTimer();
-
-const int FPS = 30;
-int FPS_SERVO = 30;
-
-float counterRotation = 0;
-int counterXRotation = 0;
-int counterYRotation = 0;
-int counterZRotation = 0;
-
-Vector *walk1 = new Vector[8];
-
-float robotHeigth = 12;
-
-int rotationRange = 8;
-
-#endif
-
-
-

2016-ssc32-processing-port/HexapodClass.h

@@ -1,376 +0,0 @@
-// Version 1
-
-#ifndef Hexapod_H
-#define Hexapod_H
-
-#include "FootClass.h";
-#include "Vector.h";
-#include "CustomTimer.h";
-#include "Global.h"
-#include <Streaming.h>
-
-Foot foot1 = Foot();
-Foot foot2 = Foot();
-Foot foot3 = Foot();
-Foot foot4 = Foot();
-Foot foot5 = Foot();
-Foot foot6 = Foot();
-
-//  Spaces from body to feet
-//	9.5
-//	14
-//	9.5
-
-//	10
-//	10
-
-//    LAYOUT HARDWARE
-//      _U_
-//  1==/   \==4
-//     >***<
-// 2===|---|===5
-//     >***<
-//  3==\___/==6
-
-//    LAYOUT SOFTWARE
-//      _U_
-//  1==/   \==6
-//     >***<
-// 2===|---|===5
-//     >***<
-//  3==\___/==4
-
-Vector point1 = Vector(4.75, 0, 10);
-Vector point2 = Vector(7, 0, 0);
-Vector point3 = Vector(4.75, 0, -10);
-Vector point4 = Vector(-4.75, 0, -10);
-Vector point5 = Vector(-7, 0, 0);
-Vector point6 = Vector(-4.75, 0, 10);
-
-Vector fpoint1 = Vector(10, 5, 0);
-Vector fpoint2 = Vector(10, 5, 0); //  y negative is down from body.
-Vector fpoint3 = Vector(10, 5, 0);
-Vector fpoint4 = Vector(10, 5, 0);
-Vector fpoint5 = Vector(10, 5, 0);
-Vector fpoint6 = Vector(10, 5, 0);
-
-Vector* standup = new Vector[2];
-
-//  Animation new
-int animationSpeed = 20;
-
-int ConverttoMS(double Position, int low, int high, int _min = 15, int _max = 165, int correction = 0)
-{
-  //Position += 90;
-
-  if (Position < _min | Position > _max)
-  {
-    Position = 90;
-    Serial.println("ERROR");
-  }
-
-  int tmp = ( Position * ( ( high - low ) / 180 ) );
-
-  //Serial1.println(Position);
-
-  return low + tmp + correction;
-}
-
-void mSend(Foot f1, Foot f2, Foot f3, Foot f4, Foot f5, Foot f6)
-{
-  int smin0 = 600;
-  int smin1 = 960;
-  int smin2 = 600;
-  int smin3 = 600;
-  int smax0 = 2400;
-  int smax1 = 2100;
-  int smax2 = 2400;
-  int smax3 = 2400;
-
-  Serial1.print(" #");
-  Serial1.print(0);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f4.O1, smin0, smax0));
-  Serial1.print(" #");
-  Serial1.print(1);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f4.O2, smin1, smax1));
-  Serial1.print(" #");
-  Serial1.print(2);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f4.O3, smin2, smax2));
-  Serial1.print(" #");
-  Serial1.print(3);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f5.O1, smin0, smax0));
-  Serial1.print(" #");
-  Serial1.print(4);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f5.O2, smin1, smax1));
-  Serial1.print(" #");
-  Serial1.print(5);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f5.O3, smin2, smax2));
-  Serial1.print(" #");
-  Serial1.print(6);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f6.O1, smin0, smax0));
-  Serial1.print(" #");
-  Serial1.print(7);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f6.O2, smin1, smax1));
-  Serial1.print(" #");
-  Serial1.print(8);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f6.O3, smin2, smax2));
-
-  Serial1.print(" #");
-  Serial1.print(9);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(90, smin3, smax3));
-
-  Serial1.print(" #");
-  Serial1.print(16);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
-  Serial1.print(" #");
-  Serial1.print(17);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
-  Serial1.print(" #");
-  Serial1.print(18);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
-  Serial1.print(" #");
-  Serial1.print(19);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f2.O1, smin0, smax0));
-  Serial1.print(" #");
-  Serial1.print(20);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f2.O2, smin1, smax1));
-  Serial1.print(" #");
-  Serial1.print(21);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f2.O3, smin2, smax2));
-  Serial1.print(" #");
-  Serial1.print(22);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f3.O1, smin0, smax0));
-  Serial1.print(" #");
-  Serial1.print(23);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f3.O2, smin1, smax1));
-  Serial1.print(" #");
-  Serial1.print(24);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f3.O3, smin2, smax2));
-
-  Serial1.print(" T");
-  Serial1.println(0);
-
-
-
-  /*Serial << " #";
-    Serial << 0;
-    Serial << " P";
-    Serial << f4.O1;
-    Serial << " #";
-    Serial << 1;
-    Serial << " P";
-    Serial << f4.O2;
-    Serial << " #";
-    Serial << 2;
-    Serial << " P";
-    Serial << f4.O3;
-    Serial << " #";
-    Serial << 3;
-    Serial << " P";
-    Serial << f5.O1;
-    Serial << " #";
-    Serial << 4;
-    Serial << " P";
-    Serial << f5.O2;
-    Serial << " #";
-    Serial << 5;
-    Serial << " P";
-    Serial << f5.O3;
-    Serial << " #";
-    Serial << 6;
-    Serial << " P";
-    Serial << f6.O1;
-    Serial << " #";
-    Serial << 7;
-    Serial << " P";
-    Serial << f6.O2;
-    Serial << " #";
-    Serial << 8;
-    Serial << " P";
-    Serial << f6.O3;
-
-    Serial << " #";
-    Serial << 16;
-    Serial << " P";
-    Serial << f1.O1;
-    Serial << " #";
-    Serial << 17;
-    Serial << " P";
-    Serial << f1.O2;
-    Serial << " #";
-    Serial << 18;
-    Serial << " P";
-    Serial << f1.O3;
-    Serial << " #";
-    Serial << 19;
-    Serial << " P";
-    Serial << f2.O1;
-    Serial << " #";
-    Serial << 20;
-    Serial << " P";
-    Serial << f2.O2;
-    Serial << " #";
-    Serial << 21;
-    Serial << " P";
-    Serial << f2.O3;
-    Serial << " #";
-    Serial << 22;
-    Serial << " P";
-    Serial << f3.O1;
-    Serial << " #";
-    Serial << 23;
-    Serial << " P";
-    Serial << f3.O2;
-    Serial << " #";
-    Serial << 24;
-    Serial << " P";
-    Serial << f3.O3;
-
-    Serial << " T";
-    Serial << 0 << "\n\r";*/
-}
-//////////////////////////////////////////////////
-
-void DrawFeet()
-{
-  if (TimerFPS_SERVO.Delay(1000 / FPS_SERVO))
-  {
-    foot1.Translate(point1);
-    foot1.SetFootCoordinates(fpoint1);
-    foot1.Invert = true;
-    foot1.setleg();
-
-    foot1.Translate(point2);
-    foot2.SetFootCoordinates(fpoint2);
-    foot2.Invert = true;
-    foot2.setleg();
-
-    foot1.Translate(point3);
-    foot3.SetFootCoordinates(fpoint3);
-    foot3.Invert = true;
-    foot3.setleg();
-
-    foot1.Translate(point4);
-    foot4.SetFootCoordinates(fpoint4);
-    foot4.Invert = false;
-    foot4.setleg();
-
-    foot1.Translate(point5);
-    foot5.SetFootCoordinates(fpoint5);
-    foot5.Invert = false;
-    foot5.setleg();
-
-    foot1.Translate(point6);
-    foot6.SetFootCoordinates(fpoint6);
-    foot6.Invert = false;
-    foot6.setleg();
-
-    mSend(foot1, foot2, foot3, foot4, foot5, foot6);
-  }
-}
-
-/*void RobotWalk()
-  {
-  if (robotStanding)
-  {
-    //animationRepeat = true;
-    animationSpeed = 20;
-
-    if (!animationRepeatComplete)
-      if (timerAnimation.Delay(animationSpeed))
-        animationSubStep++;
-
-    Serial1.println("robot walk animation");
-
-    foot1.SetFootCoordinates(Animation(walk1, 8, 0));  //  BULLSHIT BUG
-    foot1.SetFootCoordinates(Animation(walk1, 8, 0));
-    foot2.SetFootCoordinates(Animation(walk1, 8, 4));
-    foot3.SetFootCoordinates(Animation(walk1, 8, 0));//
-    foot4.SetFootCoordinates(Animation(walk1, 8, 4));//
-    foot5.SetFootCoordinates(Animation(walk1, 8, 0));
-    foot6.SetFootCoordinates(Animation(walk1, 8, 4));
-  }
-  }*/
-
-float _animationProgress = 0;
-bool rotation = false;
-
-void RobotStandup()
-{
-  standup[0] = Vector(10, 5, 0);
-  standup[1] = Vector(10, 15, 0);
-
-  if (timerAnimation.Delay(1000 / FPS))
-  {
-    Serial.println("robot standup animation");
-
-    fpoint1.Lerp(standup[0], standup[1], _animationProgress);
-    fpoint2.Lerp(standup[0], standup[1], _animationProgress);
-    fpoint3.Lerp(standup[0], standup[1], _animationProgress);
-    fpoint4.Lerp(standup[0], standup[1], _animationProgress);
-    fpoint5.Lerp(standup[0], standup[1], _animationProgress);
-    fpoint6.Lerp(standup[0], standup[1], _animationProgress);
-
-    Serial.println(point1.Print());
-
-    int _speed = 2;
-
-    _animationProgress = _animationProgress < 1.0f ? (_animationProgress + (1.0f / (FPS * _speed))) : 1.0f;
-
-    /*if (_animationProgress == 1)
-      {
-      int uhh = (millis() / 100) % 100;
-      if (rotation == true)
-      {
-        Serial.println("rotate up");
-        rotationZ = map((millis() / 100) % 100, 0, 99, -25, 25);
-        if (uhh >= 99)
-        {
-          rotation = true;
-          uhh++;
-        }
-      }
-      else
-      {
-        Serial.println("rotate upside down");
-        rotationZ = map((millis() / 100) % 100, 0, 99, 25, -25);
-        if (uhh >= 99)
-        {
-          rotation = false;
-          uhh++;
-      }
-      }
-      }*/ 
-  }
-}
-
-void DrawBody()
-{
-  RobotStandup();
-
-  //RobotWalk();
-
-  DrawFeet();
-}
-
-#endif
-

2016-ssc32-processing-port/Hexapod_NEW.ino

@@ -1,53 +0,0 @@
-// Version 1
-
-#include "Arduino.h"
-#include "CustomTimer.h"
-#include "HexapodClass.h"
-#include "Vector.h"
-#include "Global.h"
-
-//#include <avr/wdt.h>
-
-void setup()
-{
-  //wdt_enable(WDTO_1S);
-
-  walk1[0] = Vector(12, robotHeigth, 2);
-  walk1[1] = Vector(12, robotHeigth, 0);
-  walk1[2] = Vector(12, robotHeigth, -2);
-  walk1[3] = Vector(12, robotHeigth, -2);
-  walk1[4] = Vector(12, robotHeigth - 10, -2);
-  walk1[5] = Vector(12, robotHeigth - 10, 0);
-  walk1[6] = Vector(12, robotHeigth - 10, 2);
-  walk1[7] = Vector(12, robotHeigth, 2);
-
-  Serial.begin(115200);
-  Serial1.begin(115200);
-
-  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 loop()
-{
-  // the program is alive...for now.
-  //wdt_reset();
-
-  //  Rotation calculation, please use transformation matrixes instead.
-  //rotationX = ( counterXRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterXRotation % (rotationRange * 2) : rotationRange + (-1 * (counterXRotation % (rotationRange * 2))) );
-  //rotationY = ( counterYRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterYRotation % (rotationRange * 2) : rotationRange + (-1 * (counterYRotation % (rotationRange * 2))) );
-  //rotationZ = ( counterZRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterZRotation % (rotationRange * 2) : rotationRange + (-1 * (counterZRotation % (rotationRange * 2))) );
-
-  DrawBody();
-}

2016-ssc32-processing-port/Servo.h

@@ -1,104 +0,0 @@
-// Version 1
-
-//#ifndef Servo_H
-//#define Servo_H
-
-/*#include "FootClass.h";
-
-int ConverttoMS(int Position, int low, int high)
-{
-  int tmp = ( Position * ( ( high - low ) / 180 ) );
-  return low + tmp;
-}
-
-void mSend(Foot f1, Foot f2, Foot f3, Foot f4, Foot f5, Foot f6)
-{
-  int smin0 = 600;
-  int smin1 = 960;
-  int smin2 = 600;
-  int smin3 = 600;
-  int smax0 = 2400;
-  int smax1 = 2100;
-  int smax2 = 2400;
-  int smax3 = 2400;
-
-  Serial1.print(" #"); 
-  Serial1.print(0);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
-  Serial1.print(" #"); 
-  Serial1.print(1);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
-  Serial1.print(" #"); 
-  Serial1.print(2);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
-  Serial1.print(" #"); 
-  Serial1.print(4);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
-  Serial1.print(" #"); 
-  Serial1.print(5);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
-  Serial1.print(" #"); 
-  Serial1.print(6);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
-  Serial1.print(" #"); 
-  Serial1.print(7);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
-  Serial1.print(" #"); 
-  Serial1.print(8);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
-  Serial1.print(" #"); 
-  Serial1.print(9);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
-
-  Serial1.print(" #"); 
-  Serial1.print(16);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
-  Serial1.print(" #"); 
-  Serial1.print(17);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
-  Serial1.print(" #"); 
-  Serial1.print(18);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
-  Serial1.print(" #"); 
-  Serial1.print(19);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
-  Serial1.print(" #"); 
-  Serial1.print(20);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
-  Serial1.print(" #"); 
-  Serial1.print(21);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
-  Serial1.print(" #"); 
-  Serial1.print(22);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
-  Serial1.print(" #"); 
-  Serial1.print(23);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
-  Serial1.print(" #"); 
-  Serial1.print(24);
-  Serial1.print(" P");
-  Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
-
-  Serial1.print(" T");
-  Serial1.println(0);
-}*/
-
-//#endif
-

2016-ssc32-processing-port/Vector.h

@@ -1,66 +0,0 @@
-// Version 1
-
-#ifndef Servo_H
-#define Servo_H
-
-class Vector
-{
-  public:
-    float x, y, z;
-    Vector(float X, float Y, float Z)
-    {
-      x = X;
-      y = Y;
-      z = Z;
-    }
-    void Init(float X, float Y, float Z)
-    {
-      x = X;
-      y = Y;
-      z = Z;
-    }
-    Vector()
-    {
-
-    }
-    Vector Lerp(Vector start, Vector end, float percent)
-    {
-      Vector _new = (start + ((end - start) * percent));
-      x = _new.x;
-      y = _new.y;
-      z = _new.z;
-      return _new;
-    }
-    Vector operator + (const Vector other)
-    {
-      Vector _new = Vector();
-      _new.x = x + other.x;
-      _new.y = y + other.y;
-      _new.z = z + other.z;
-
-      return _new;
-    }
-    Vector operator - (const Vector other)
-    {
-      Vector _new = Vector();
-      _new.x = x - other.x;
-      _new.y = y - other.y;
-      _new.z = z - other.z;
-
-      return _new;
-    }
-    Vector operator * (const float other)
-    {
-      Vector _new = Vector(x * other, y * other, z * other);
-      
-      return _new;
-    }
-    String Print()
-    {
-      return String(x) + " " + String(y) + " " + String(z);
-    }
-};
-
-#endif
-
-

2019-teensy-nrf24/robot/Hexapod_Teensy.ino

@@ -1,93 +0,0 @@
-#include "Nrf.h"
-#include <Wire.h>
-#include <MPU6050_tockn.h>
-#include "PWMServo.h"
-#include "config.h"
-
-PWMServo servos[18];
-
-MPU6050 mpu (Wire);
-
-dataStruct2 data;
-
-void setup()
-{
-  Serial.begin(115200);
-  Serial1.begin(115200);
-  //  while (!Serial) ; // wait for arduino serial monitor
-
-  for (int i = 0; i < 18; i++)
-    servos[i].attach(pins[i], servoMin[i] + servoCallibration[i],
-                     servoMax[i] + servoCallibration[i]); // 900-2100 for high torque servos
-//  while (true)
-//  {
-    for (int i = 0; i < 18; i++)
-      servos[i].write(90 + servoOffset[i]);
-//  }
-
-
-  Serial.println("Starting mpu6050");
-
-//  //   Initialization
-//  Wire.begin();
-//  mpu.begin();
-//
-//  mpu.calcGyroOffsets(true, 300, 1000);
-//
-//  // Calibration
-//  Serial.println("=====================================");
-//  Serial.println("Starting calibration...");
-//  mpu.calcGyroOffsets();
-//  Serial.println("Calibration complete!");
-
-  Serial.println("Starting nrf");
-  NrfInit();
-}
-
-void STOP()
-{
-  for (int i = 0; i < 18; i++)
-    pinMode(pins[i], INPUT);
-  while (true)
-  {}
-}
-
-int i = 0;
-
-void loop()
-{
-  network.update();
-
-  if (false)
-  {
-    mpu.update();
-    Serial.print("AngX = ");
-    Serial.print(mpu.getAngleX());
-    Serial.print("  /  AngY = ");
-    Serial.print(mpu.getAngleY());
-    Serial.print("  /  AngZ = ");
-    Serial.println(mpu.getAngleZ());
-  }
-
-  //    Serial.print("  /  AngX = ");
-  //    Serial.print(mpu.getGyroAngleX());
-  //    Serial.print("  /  AngY = ");
-  //    Serial.print(mpu.getGyroAngleY());
-  //    Serial.print("  /  AngZ = ");
-  //    Serial.println(mpu.getGyroAngleZ());
-
-  data = NrfGetData(data, true);
-
-//  if (data.STOP)
-//    STOP();
-
-  // test
-  //  data.servoPositions[0] = data.servoPositions[0] + 0.1f;
-  //  data = NrfSendData(data, false);
-
-  if (data.remotePasstroughControl == true)
-    for (int i = 0; i < 18; i++)
-      servos[i].write(data.servoPositions[i] + servoOffset[i]);
-
-  delay(20);
-}

2019-teensy-nrf24/robot/Nrf.h

@@ -1,66 +0,0 @@
-#include <SPI.h>
-#include "RF24.h"
-#include <RF24Network.h>
-#include "TransferDataStructure.h"
-
-// Nrf24 settings
-RF24 radio(39, 15); // CE, CSN
-RF24Network network(radio);
-
-const uint16_t this_node = 01;        // Address of our node in Octal format
-const uint16_t other_node = 00;       // Address of the other node in Octal format
-
-void NrfInit()
-{
-  SPI.setSCK(14);
-  SPI.setMOSI(11);
-  SPI.setMISO(12);
-
-  SPI.begin();
-  radio.begin();
-  network.begin(/*channel*/ 90, /*node address*/ this_node);
-
-  // Set the PA Level low to prevent power supply related issues since this is a
-  // getting_started sketch, and the likelihood of close proximity of the devices. RF24_PA_MAX is default.
-  radio.setPALevel(RF24_PA_LOW);
-}
-
-dataStruct2 NrfGetData(dataStruct2 data, bool debug = false)
-{
-  //  network.update();
-  int timeout = millis() + 100;
-  while ( network.available() && timeout > millis() )
-  {
-    RF24NetworkHeader header;
-    network.read(header, &data, sizeof(data));
-
-    if (debug)
-    {
-      Serial.print("Received packet ");
-      Serial.println(data.servoPositions[0]);
-    }
-  }
-
-  return data;
-}
-
-dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
-{
-  //  network.update();
-
-  if (debug)
-    Serial.print("Sending...");
-
-  RF24NetworkHeader header(/*to node*/ other_node);
-  bool ok = network.write(header, &data, sizeof(data));
-
-  if (debug)
-  {
-    if (ok)
-      Serial.println("ok.");
-    else
-      Serial.println("failed.");
-  }
-
-  return data;
-}

2019-teensy-nrf24/robot/PWMServo.cpp

@@ -1,226 +0,0 @@
-#include "Arduino.h"
-#include "PWMServo.h"
-
-/*
-  PWMServo.cpp - Hardware Servo Timer Library
-  http://arduiniana.org/libraries/pwmservo/
-  Author: Jim Studt, jim@federated.com
-  Copyright (c) 2007 David A. Mellis.  All right reserved.
-  renamed to PWMServo by Mikal Hart
-  ported to other chips by Paul Stoffregen
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-#define NO_ANGLE (0xff)
-
-#if defined(__AVR__)
-
-#include <avr/interrupt.h>
-
-uint8_t PWMServo::attachedA = 0;
-uint8_t PWMServo::attachedB = 0;
-#ifdef SERVO_PIN_C
-uint8_t PWMServo::attachedC = 0;
-#endif
-
-void PWMServo::seizeTimer1()
-{
-  uint8_t oldSREG = SREG;
-
-  cli();
-  TCCR1A = _BV(WGM11); /* Fast PWM, ICR1 is top */
-  TCCR1B = _BV(WGM13) | _BV(WGM12) /* Fast PWM, ICR1 is top */
-           | _BV(CS11) /* div 8 clock prescaler */
-           ;
-  OCR1A = 3000;
-  OCR1B = 3000;
-  ICR1 = clockCyclesPerMicrosecond() * (20000L / 8); // 20000 uS is a bit fast for the refresh, 20ms, but
-  // it keeps us from overflowing ICR1 at 20MHz clocks
-  // That "/8" at the end is the prescaler.
-#if defined(__AVR_ATmega8__)
-  TIMSK &= ~(_BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) );
-#else
-  TIMSK1 &=  ~(_BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) );
-#endif
-
-  SREG = oldSREG;  // undo cli()
-}
-
-void PWMServo::releaseTimer1() {}
-
-PWMServo::PWMServo() : pin(0), angle(NO_ANGLE) {}
-
-uint8_t PWMServo::attach(int pinArg, int min, int max)
-{
-#ifdef SERVO_PIN_C
-  if (pinArg != SERVO_PIN_A && pinArg != SERVO_PIN_B && pinArg != SERVO_PIN_C) return 0;
-#else
-  if (pinArg != SERVO_PIN_A && pinArg != SERVO_PIN_B) return 0;
-#endif
-
-  min16 = min / 16;
-  max16 = max / 16;
-
-  pin = pinArg;
-  angle = NO_ANGLE;
-  digitalWrite(pin, LOW);
-  pinMode(pin, OUTPUT);
-
-#ifdef SERVO_PIN_C
-  if (!attachedA && !attachedB && !attachedC) seizeTimer1();
-#else
-  if (!attachedA && !attachedB) seizeTimer1();
-#endif
-
-  if (pin == SERVO_PIN_A) {
-    attachedA = 1;
-    TCCR1A = (TCCR1A & ~_BV(COM1A0)) | _BV(COM1A1);
-  }
-
-  if (pin == SERVO_PIN_B) {
-    attachedB = 1;
-    TCCR1A = (TCCR1A & ~_BV(COM1B0)) | _BV(COM1B1);
-  }
-
-#ifdef SERVO_PIN_C
-  if (pin == SERVO_PIN_C) {
-    attachedC = 1;
-    TCCR1A = (TCCR1A & ~_BV(COM1C0)) | _BV(COM1C1);
-  }
-#endif
-  return 1;
-}
-
-void PWMServo::detach()
-{
-  // muck with timer flags
-  if (pin == SERVO_PIN_A) {
-    attachedA = 0;
-    TCCR1A = TCCR1A & ~_BV(COM1A0) & ~_BV(COM1A1);
-    pinMode(pin, INPUT);
-  }
-
-  if (pin == SERVO_PIN_B) {
-    attachedB = 0;
-    TCCR1A = TCCR1A & ~_BV(COM1B0) & ~_BV(COM1B1);
-    pinMode(pin, INPUT);
-  }
-
-#ifdef SERVO_PIN_C
-  if (pin == SERVO_PIN_C) {
-    attachedC = 0;
-    TCCR1A = TCCR1A & ~_BV(COM1C0) & ~_BV(COM1C1);
-    pinMode(pin, INPUT);
-  }
-#endif
-
-#ifdef SERVO_PIN_C
-  if (!attachedA && !attachedB && !attachedC) releaseTimer1();
-#else
-  if (!attachedA && !attachedB) releaseTimer1();
-#endif
-}
-
-void PWMServo::write(int angleArg)
-{
-  uint16_t p;
-
-  if (angleArg < 0) angleArg = 0;
-  if (angleArg > 180) angleArg = 180;
-  angle = angleArg;
-
-  // bleh, have to use longs to prevent overflow, could be tricky if always a 16MHz clock, but not true
-  // That 8L on the end is the TCNT1 prescaler, it will need to change if the clock's prescaler changes,
-  // but then there will likely be an overflow problem, so it will have to be handled by a human.
-  p = (min16 * 16L * clockCyclesPerMicrosecond() + (max16 - min16) * (16L * clockCyclesPerMicrosecond()) * angle / 180L) / 8L;
-  if (pin == SERVO_PIN_A) OCR1A = p;
-  if (pin == SERVO_PIN_B) OCR1B = p;
-#ifdef SERVO_PIN_C
-  if (pin == SERVO_PIN_C) OCR1C = p;
-#endif
-}
-
-uint8_t PWMServo::attached()
-{
-  if (pin == SERVO_PIN_A && attachedA) return 1;
-  if (pin == SERVO_PIN_B && attachedB) return 1;
-#ifdef SERVO_PIN_C
-  if (pin == SERVO_PIN_C && attachedC) return 1;
-#endif
-  return 0;
-}
-
-
-#elif defined(__arm__) && defined(TEENSYDUINO)
-
-uint32_t PWMServo::attachedpins[(NUM_DIGITAL_PINS + 31) / 32]; // 1 bit per digital pin
-
-PWMServo::PWMServo() : pin(255), angle(NO_ANGLE) {}
-
-uint8_t PWMServo::attach(int pinArg, int min, int max)
-{
-//  Serial.printf("attach, pin=%d, min=%d, max=%d\n", pinArg, min, max);
-  if (pinArg < 0 || pinArg >= NUM_DIGITAL_PINS) return 0;
-  if (!digitalPinHasPWM(pinArg)) return 0;
-  pin = pinArg;
-  analogWriteFrequency(pin, 50);
-  min16 = min >> 4;
-  max16 = max >> 4;
-  angle = NO_ANGLE;
-  digitalWrite(pin, LOW);
-  pinMode(pin, OUTPUT);
-  attachedpins[pin >> 5] |= (1 << (pin & 31));
-//  Serial.println("Succes!");
-  return 1;
-}
-
-void PWMServo::write(float angleArg)
-{
-  //Serial.printf("write, pin=%d, angle=%d\n", pin, angleArg);
-  if (pin >= NUM_DIGITAL_PINS) return;
-  if (angleArg < 0) angleArg = 0;
-  if (angleArg > 180) angleArg = 180;
-  angle = angleArg;
-
-  uint32_t us = (((max16 - min16) * 46603 * (uint8_t)angle) >> 11) + (min16 << 12); // us*256
-  //uint32_t duty = (us * 3355) >> 22;
-
-  float usec = (float)((max16 - min16) << 4) * ((float)angle / 180.0f) + (float)(min16 << 4);
-  uint32_t duty = (int)(usec / 20000.0f * 4096.0f);
-
-  if (false)
-    Serial.printf("pin=%d, angle=%.2f, usec=%.2f, us=%.2f, duty=%d, min=%d, max=%d\n",
-                  pin, (float)angle, usec, (float)us / 256.0f, duty, min16 << 4, max16 << 4);
-
-#if TEENSYDUINO >= 137
-  noInterrupts();
-  uint32_t oldres = analogWriteResolution(12);
-  analogWrite(pin, duty);
-  analogWriteResolution(oldres);
-  interrupts();
-#else
-  analogWriteResolution(12);
-  analogWrite(pin, duty);
-#endif
-}
-
-uint8_t PWMServo::attached()
-{
-  if (pin >= NUM_DIGITAL_PINS) return 0;
-  return (attachedpins[pin >> 5] & (1 << (pin & 31))) ? 1 : 0;
-}
-
-#endif

2019-teensy-nrf24/robot/PWMServo.h

@@ -1,94 +0,0 @@
-#ifndef PWMServo_h
-#define PWMServo_h
-
-/*
-  PWMServo.h - Hardware Servo Timer Library
-  http://arduiniana.org/libraries/pwmservo/
-  Author: Jim Studt, jim@federated.com
-  Copyright (c) 2007 David A. Mellis.  All right reserved.
-  renamed to PWMServo by Mikal Hart
-  ported to other chips by Paul Stoffregen
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-#include <inttypes.h>
-
-#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) // Arduino
-  #define SERVO_PIN_A 9
-  #define SERVO_PIN_B 10
-#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // Arduino Mega
-  #define SERVO_PIN_A 11
-  #define SERVO_PIN_B 12
-  #define SERVO_PIN_C 13
-#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) // Sanguino
-  #define SERVO_PIN_A 13
-  #define SERVO_PIN_B 12
-#elif defined(__AVR_AT90USB162__) // Teensy 1.0
-  #define SERVO_PIN_A 17
-  #define SERVO_PIN_B 18
-  #define SERVO_PIN_C 15
-#elif defined(__AVR_ATmega32U4__) // Teensy 2.0
-  #define SERVO_PIN_A 14
-  #define SERVO_PIN_B 15
-  #define SERVO_PIN_C 4
-#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) // Teensy++
-  #define SERVO_PIN_A 25
-  #define SERVO_PIN_B 26
-  #define SERVO_PIN_C 27
-#elif defined(__arm__) && defined(TEENSYDUINO)
-  #define SERVO_PIN_A 9
-  #define SERVO_PIN_B 10
-  // all PWM pins supported, but names not defined here...
-  // just use the actual PWM pin number with attach()
-#else
-  #define SERVO_PIN_A 9
-  #define SERVO_PIN_B 10
-#endif
-
-class PWMServo
-{
-  private:
-    uint8_t pin;
-    float angle;       // in degrees
-    uint8_t min16;       // minimum pulse, 16uS units  (default is 34)
-    uint8_t max16;       // maximum pulse, 16uS units, 0-4ms range (default is 150)
-#if defined(__AVR__)
-    static void seizeTimer1();
-    static void releaseTimer1();
-    static uint8_t attachedA;
-    static uint8_t attachedB;
-    #ifdef SERVO_PIN_C
-    static uint8_t attachedC;
-    #endif
-#elif defined(__arm__) && defined(TEENSYDUINO)
-    static uint32_t attachedpins[]; // 1 bit per digital pin
-#endif
-  public:
-    PWMServo();
-    uint8_t attach(int pinArg) { return attach(pinArg, 544, 2400); }
-                             // pulse length for 0 degrees in microseconds, 544uS default
-                             // pulse length for 180 degrees in microseconds, 2400uS default
-    uint8_t attach(int pinArg, int min, int max);
-                             // attach to a pin, sets pinMode, returns 0 on failure, won't
-                             // position the servo until a subsequent write() happens
-                             // Only works for 9 and 10.
-    void detach();
-    void write(float angleArg); // specify the angle in degrees, 0 to 180
-    uint8_t read() { return angle; }
-    uint8_t attached();
-};
-
-#endif

2019-teensy-nrf24/robot/TransferDataStructure.h

@@ -1,29 +0,0 @@
-#ifndef dataStruct
-#define dataStruct
-
-struct __attribute__((__packed__)) dataStruct2
-{
-  bool STOP = false;
-
-  float walkSpeed = 10; //step size
-  float walkSpeed2 = 0; //gate speed
-  float walkRotation = 0 ;
-  float walkDirection = 0;
-
-  float tranform[3] = {0, 0, 0};
-  float tranform2[3] = {0, 0, 0};
-  float rotation[3] = {0, 0, 0};
-
-  bool remotePasstroughControl = true;
-  float servoPositions[18] = {
-    90, 90, 90,
-    90, 90, 90,
-    90, 90, 90,
-
-    90, 90, 90,
-    90, 90, 90,
-    90, 90, 90
-  };
-} dataStruct;
-
-#endif

2019-teensy-nrf24/robot/config.h

@@ -1,44 +0,0 @@
-byte pins[18] = {4, 3, 2,
-                 7, 6, 5,
-                 10, 9, 8,
-
-                 23, 22, 21,
-                 20, 36, 37,
-                 17, 16, 38
-                };
-
-int servoMin[18] = {553, 840, 553,
-                    553, 840, 553,
-                    553, 840, 553,
-
-                    553, 840, 553,
-                    553, 840, 553,
-                    553, 840, 553
-                   };
-
-int servoMax[18] = {2425, 2050, 2425,
-                    2425, 2050, 2425,
-                    2425, 2050, 2425,
-
-                    2425, 2050, 2425,
-                    2425, 2050, 2425,
-                    2425, 2050, 2425
-                   };
-
-int servoCallibration[18] = {0, 100, 0,
-                             0, 100, -30,
-                             0, 80, -50,
-
-                             -120, 0, 0,
-                             -10, 20, 0,
-                             0, 20, -80
-                            };
-
-float servoOffset[18] = {0, 0, 0,
-                         0, 0, 0,
-                         0, 0, 0,
-
-                         90, 0, 0,
-                         0, 0, 0,
-                         -90, 0, 0
-                        };