105 lines
2.6 KiB
C++
105 lines
2.6 KiB
C++
// hexapod.cpp
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#ifndef HEX
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#define HEX
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#include "Arduino.h"
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#include "hexapod.h"
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void hexapod::FireFly()
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{
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Serial.println("");
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Serial.println(" ____ ____ ___ ");
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Serial.println("/\\ _`\\ __ /\\ _`\\ /\\_ \\ ");
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Serial.println("\\ \\ \\__ /\\_\\ _ __ __\\ \\ \\__ //\\ \\ __ __ ");
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Serial.println(" \\ \\ _\\ \\/\\ \\/\\`'__\\/'__`\\ \\ _\\ \\ \\ \\ /\\ \\/\\ \\ ");
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Serial.println(" \\ \\ \\/ \\ \\ \\ \\ \\//\\ __/\\ \\ \\/ \\_\\ \\_\\ \\ \\_\\ \\ ");
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Serial.println(" \\ \\_\\ \\ \\_\\ \\_\\\\ \\____\\\\ \\_\\ /\\____\\\\/`____ \\ ");
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Serial.println(" \\/_/ \\/_/\\/_/ \\/____/ \\/_/ \\/____/ `/___/> \\");
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Serial.println(" /\\___/");
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Serial.println(" \\/__/");
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Serial.println("");
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Serial.println("Version 3.1");
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delay(800);
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irrecv = new IRrecv((int)5);
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irrecv->enableIRIn();
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}
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int hexapod::GetNewCmd()
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{
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if (irrecv->decode(&results)) {
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if (results.value != old.value){
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if (results.decode_type == RC6) {
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#ifdef DEBUG
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Serial.print("### GetNewCmd->Decoded RC6: ");
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Serial.println(results.value, HEX);
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#endif
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old.value = results.value;
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rr = false;
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s = true;
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}
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else if (rr != true)
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{
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#ifdef DEBUG
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Serial.println("### GetNewCmd->Not RC6");
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#endif
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rr = true;
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}
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}
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irrecv->resume(); // Receive the next value
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}
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if (s)
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{
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s = false;
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return results.value;
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}
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else return 0;
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}
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float microsecondsToCentimeters(float microseconds)
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{
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// The speed of sound is 340 m/s or 29 microseconds per centimeter.
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// The ping travels out and back, so to find the distance of the
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// object we take half of the distance travelled.
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return microseconds / 29 / 2;
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}
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float hexapod::GetUltraSoneDistance()
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{
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float duration, cm;
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pinMode(PingS, OUTPUT);
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digitalWrite(PingS, LOW);
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delayMicroseconds(2);
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digitalWrite(PingS, HIGH);
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delayMicroseconds(5);
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digitalWrite(PingS, LOW);
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pinMode(PingR, INPUT);
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duration = pulseIn(PingR, HIGH);
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// convert the time into a distance
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cm = microsecondsToCentimeters(duration);
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return cm;
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}
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void hexapod::CoreSend(DataObject *Input)
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{
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//Init
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Converter Con;
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InverseKinemetics IK;
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Servos SSC32;
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Data *DataLine = new Data;
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//Main
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DataLine->input(Input);
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DataLine->WalkTime = 1000;
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IK.IK(DataLine);
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Con.Convert(DataLine);
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SSC32.Send(DataLine);
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}
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#endif |