mangavalkandClaude Opus 5.5
09f7424714
From https://mangavalk.com/Hexapod/Hexapod @ 7945005 (its Hexapod_Teensy is identical to the copy already in LEGACY). Earlier electronics generation: on-board IK driving an external SSC-32-style servo controller. Notes on what still applies are in CLAUDE.md. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
105 lines
2.6 KiB
C
105 lines
2.6 KiB
C
// Version 1
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//#ifndef Servo_H
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//#define Servo_H
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/*#include "FootClass.h";
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int ConverttoMS(int Position, int low, int high)
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{
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int tmp = ( Position * ( ( high - low ) / 180 ) );
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return low + tmp;
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}
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void mSend(Foot f1, Foot f2, Foot f3, Foot f4, Foot f5, Foot f6)
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{
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int smin0 = 600;
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int smin1 = 960;
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int smin2 = 600;
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int smin3 = 600;
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int smax0 = 2400;
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int smax1 = 2100;
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int smax2 = 2400;
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int smax3 = 2400;
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Serial1.print(" #");
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Serial1.print(0);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
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Serial1.print(" #");
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Serial1.print(1);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
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Serial1.print(" #");
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Serial1.print(2);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
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Serial1.print(" #");
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Serial1.print(4);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
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Serial1.print(" #");
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Serial1.print(5);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
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Serial1.print(" #");
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Serial1.print(6);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
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Serial1.print(" #");
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Serial1.print(7);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
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Serial1.print(" #");
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Serial1.print(8);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
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Serial1.print(" #");
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Serial1.print(9);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
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Serial1.print(" #");
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Serial1.print(16);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
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Serial1.print(" #");
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Serial1.print(17);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
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Serial1.print(" #");
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Serial1.print(18);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
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Serial1.print(" #");
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Serial1.print(19);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
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Serial1.print(" #");
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Serial1.print(20);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
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Serial1.print(" #");
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Serial1.print(21);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
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Serial1.print(" #");
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Serial1.print(22);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O1, smin0, smax0));
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Serial1.print(" #");
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Serial1.print(23);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O2, smin1, smax1));
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Serial1.print(" #");
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Serial1.print(24);
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Serial1.print(" P");
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Serial1.print(ConverttoMS(f1.O3, smin2, smax2));
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Serial1.print(" T");
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Serial1.println(0);
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}*/
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//#endif
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