43 lines
849 B
C
43 lines
849 B
C
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#ifndef Zowi_h
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#define Zowi_h
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#include "Arduino.h"
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#include <ESP32_Servo.h>
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#include <Oscillator.h>
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#include <EEPROM.h>
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class Zowi
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{
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public:
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void init(int YL, int YR, int RL, int RR, bool load_calibration=0);
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void setTrims(int YL, int YR, int RL, int RR);
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void saveTrimsOnEEPROM();
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void moveServos(int time, int servo_target[]);
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void oscillateServos(int A[4], int O[4], int T, double phase_diff[4], float cycle);
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void walk(float steps=4, int T=1566);
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void turnLeft(float steps, int T);
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void turnRight(float steps, int T);
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void backward(float steps, int T);
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void jump(float steps=1, int T=1000);
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private:
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Oscillator servo[4];
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int servo_trim[4];
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int servo_position[4];
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unsigned long final_time;
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unsigned long partial_time;
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float increment[4];
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};
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#endif
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