updated
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Lars H
parent
ae96447a6e
commit
143e23360d
166
Hippie.cpp
166
Hippie.cpp
@ -146,12 +146,22 @@ void Hippie::setRestState(bool state){
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//---------------------------------------------------------
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void Hippie::jump(float steps, int T){
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int up[]={90,90,150,30};
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int up[]={90,90,165,15};
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_moveServos(T,up);
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int down[]={90,90,90,90};
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_moveServos(T,down);
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}
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//---------------------------------------------------------
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//-- Hippie Test Positions (bring feets and hips in certain position)
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//---------------------------------------------------------
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void Hippie::test_pos(){
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int left_feet_up[4]={90,0,90,30}; //watch from view of robot: [3] = left leg ... by + value: turn right
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_moveServos(1000,left_feet_up); // [4] = right leg ... by + value: right side up
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}
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//---------------------------------------------------------
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//-- Hippie gait: Walking (forward or backward)
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@ -169,10 +179,12 @@ void Hippie::walk(float steps, int T, int dir){
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//-- -90 : Walk forward
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//-- 90 : Walk backward
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//-- Feet servos also have the same offset (for tiptoe a little bit)
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int A[4]= {30, 30, 20, 20};
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int O[4] = {0, 0, 4, -4};
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int A[4]= {30, 30, 40, 40}; //20
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int O[4] = {0, 0, 4, 30}; //-4
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double phase_diff[4] = {0, 0, DEG2RAD(dir * -90), DEG2RAD(dir * -90)};
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if ( dir == -1) { double phase_diff[4] = {0, 0, DEG2RAD(dir * 90), DEG2RAD(dir * 90)}; }
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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}
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@ -193,16 +205,17 @@ void Hippie::turn(float steps, int T, int dir){
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//-- the right leg are bigger than the left. So, the robot describes an
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//-- left arc
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int A[4]= {30, 30, 20, 20};
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int O[4] = {0, 0, 4, -4};
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int O[4] = {0, 0, 4, 30};
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double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)};
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if (dir == LEFT) {
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A[0] = 30; //-- Left hip servo
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A[0] = 50; //-- Left hip servo
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A[1] = 10; //-- Right hip servo
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}
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else {
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A[0] = 10;
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A[1] = 30;
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A[1] = 50;
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A[2] = 40;
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}
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//-- Let's oscillate the servos!
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@ -221,7 +234,7 @@ void Hippie::bend (int steps, int T, int dir){
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//Parameters of all the movements. Default: Left bend
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int bend1[4]={90, 90, 62, 35};
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int bend2[4]={90, 90, 62, 105};
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int bend2[4]={90, 90, 62, 105+60};
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int homes[4]={90, 90, 90, 90};
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//Time of one bend, constrained in order to avoid movements too fast.
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@ -250,6 +263,121 @@ void Hippie::bend (int steps, int T, int dir){
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}
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//--------------------------------------------------------
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//-- New Walk Move
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//-- number of steps
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//-- T: Period of one steps
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//-- dir: direction of movement
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//--------------------------------------------------------
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void Hippie::new_walk(int dir, float steps, int T){
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if(dir==1){
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// Positions of walking
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int Pos_A[4] = {90,90,180, 90};
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int Pos_B[4] = {90,90,180, 180};
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int Pos_C[4] = {90,45,90, 180};
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int Pos_D[4] = {45,45,90,90};
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int Pos_E[4] = {45,45,30,30};
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int Pos_F[4] = {150,150,30,90};
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int Pos_G[4] = {150,150,90,90};
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// run movements
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for (int i=0;i<steps;i++)
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{
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_moveServos(T/2, Pos_A);
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_moveServos(T/3, Pos_B);
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//delay(T);
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_moveServos(T/2, Pos_C);
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_moveServos(T/2, Pos_D);
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//delay(T);
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_moveServos(T/2, Pos_E);
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_moveServos(T/2, Pos_F);
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_moveServos(T/2, Pos_G);
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//delay(T*3);
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}
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}
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//Backwards
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if (dir == 2){
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int Pos_1[4] = {90,90,180, 90};
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int Pos_2[4] = {90,90,180, 180};
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int Pos_3[4] = {90,145,90, 180};
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int Pos_4[4] = {145,145,90,90};
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int Pos_5[4] = {145,145,30,30};
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int Pos_6[4] = {45,45,30,90};
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int Pos_7[4] = {45,45,90,90};
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// run movements
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for (int i=0;i<steps;i++)
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{
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_moveServos(T/2, Pos_1);
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_moveServos(T/3, Pos_2);
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//delay(T);
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_moveServos(T/2, Pos_3);
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_moveServos(T/2, Pos_4);
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//delay(T);
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_moveServos(T/2, Pos_5);
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_moveServos(T/2, Pos_6);
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_moveServos(T/2, Pos_7);
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//delay(T*3);
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}
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}
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}
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//--------------------------------------------------------
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//-- New Turn Move
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//-- number of steps
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//-- T: Period of one steps
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//-- dir: direction of movement
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//--------------------------------------------------------
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void Hippie::new_turn(int dir, float steps, int T){
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//LEFT
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if (dir==1) {
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// Positions of turning
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int Pos_A[4] = {90,90,90, 30};
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int Pos_B[4] = {90,90,30, 30};
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int Pos_C[4] = {0,90,30,90};
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int Pos_D[4] = {0,90,90,90};
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int Pos_E[4] = {90,90,90,90};
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// run movements
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for (int i=0;i<steps;i++)
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{
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_moveServos(T/2, Pos_A);
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_moveServos(T/3, Pos_B);
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//delay(T);
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_moveServos(T/2, Pos_C);
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_moveServos(T/2, Pos_D);
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_moveServos(T/2, Pos_E);
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}
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}
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//RIGHT
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if (dir==2) {
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// Positions of turning
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int Pos_1[4] = {90,90,180, 90};
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int Pos_2[4] = {90,90,180, 180};
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int Pos_3[4] = {90,180,90, 180};
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int Pos_4[4] = {90,180,90,90};
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int Pos_5[4] = {90,90,90,90};
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// run movements
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for (int i=0;i<steps;i++)
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{
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_moveServos(T/2, Pos_1);
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_moveServos(T/3, Pos_2);
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//delay(T);
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_moveServos(T/2, Pos_3);
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_moveServos(T/2, Pos_4);
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_moveServos(T/2, Pos_5);
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}
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}
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}
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//---------------------------------------------------------
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//-- Hippie gait: Shake a leg
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@ -261,12 +389,12 @@ void Hippie::bend (int steps, int T, int dir){
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void Hippie::shakeLeg (int steps,int T,int dir){
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//This variable change the amount of shakes
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int numberLegMoves=2;
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int numberLegMoves=4;
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//Parameters of all the movements. Default: Right leg
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int shake_leg1[4]={90, 90, 58, 35};
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int shake_leg2[4]={90, 90, 58, 120};
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int shake_leg3[4]={90, 90, 58, 60};
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int shake_leg1[4]={90, 90, 58, 35-15};
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int shake_leg2[4]={90, 90, 58, 120+30};
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int shake_leg3[4]={90, 90, 58, 60-30};
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int homes[4]={90, 90, 90, 90};
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//Changes in the parameters if left leg is chosen
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@ -320,7 +448,7 @@ void Hippie::updown(float steps, int T, int h){
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//-- Initial phase for the right foot is -90, so that it starts
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//-- in one extreme position (not in the middle)
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int A[4]= {0, 0, h, h};
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int O[4] = {0, 0, h, -h};
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int O[4] = {0, 0, h, -h+50};
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double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(90)};
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//-- Let's oscillate the servos!
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@ -340,7 +468,7 @@ void Hippie::swing(float steps, int T, int h){
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//-- Both feets are in phase. The offset is half the amplitude
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//-- It causes the robot to swing from side to side
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int A[4]= {0, 0, h, h};
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int O[4] = {0, 0, h/2, -h/2};
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int O[4] = {0, 0, h/2-20, -h/2+50-20};
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double phase_diff[4] = {0, 0, DEG2RAD(0), DEG2RAD(0)};
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//-- Let's oscillate the servos!
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@ -360,7 +488,7 @@ void Hippie::tiptoeSwing(float steps, int T, int h){
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//-- Both feets are in phase. The offset is not half the amplitude in order to tiptoe
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//-- It causes the robot to swing from side to side
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int A[4]= {0, 0, h, h};
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int O[4] = {0, 0, h, -h};
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int O[4] = {0, 0, h-20, -h+50};
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double phase_diff[4] = {0, 0, 0, 0};
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//-- Let's oscillate the servos!
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@ -407,7 +535,7 @@ void Hippie::ascendingTurn(float steps, int T, int h){
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//-- h is constrained to avoid hit the feets
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h=min(13,h);
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int A[4]= {h, h, h, h};
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int O[4] = {0, 0, h+4, -h+4};
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int O[4] = {0, 0, h+4, -h+40};
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double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), DEG2RAD(-90), DEG2RAD(90)};
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//-- Let's oscillate the servos!
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@ -436,7 +564,7 @@ void Hippie::moonwalker(float steps, int T, int h, int dir){
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//- offset so that the robot tiptoe lightly
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int A[4]= {0, 0, h, h};
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int O[4] = {0, 0, h/2+2, -h/2 -2};
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int O[4] = {0, 0, h/2+2, -h/2 -2+60};
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int phi = -dir * 90;
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double phase_diff[4] = {0, 0, DEG2RAD(phi), DEG2RAD(-60 * dir + phi)};
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@ -456,7 +584,7 @@ void Hippie::moonwalker(float steps, int T, int h, int dir){
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void Hippie::crusaito(float steps, int T, int h, int dir){
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int A[4]= {25, 25, h, h};
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int O[4] = {0, 0, h/2+ 4, -h/2 - 4};
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int O[4] = {0, 0, h/2+ 4, -h/2 - 4+30};
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double phase_diff[4] = {90, 90, DEG2RAD(0), DEG2RAD(-60 * dir)};
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//-- Let's oscillate the servos!
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@ -474,8 +602,8 @@ void Hippie::crusaito(float steps, int T, int h, int dir){
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//---------------------------------------------------------
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void Hippie::flapping(float steps, int T, int h, int dir){
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int A[4]= {12, 12, h, h};
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int O[4] = {0, 0, h - 10, -h + 10};
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int A[4]= {12+10, 12+10, h, h};
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int O[4] = {0, 0, h - 10, -h + 10+60};
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double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(-90 * dir), DEG2RAD(90 * dir)};
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//-- Let's oscillate the servos!
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21
Hippie.h
21
Hippie.h
@ -45,24 +45,27 @@ class Hippie
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void setRestState(bool state);
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//-- Predetermined Motion Functions
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void jump(float steps=1, int T = 2000);
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void jump(float steps=1, int T = 600);
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void walk(float steps=4, int T=1000, int dir = FORWARD);
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void turn(float steps=4, int T=2000, int dir = LEFT);
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void turn(float steps=4, int T=1000, int dir = LEFT);
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void bend (int steps=1, int T=1400, int dir=LEFT);
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void shakeLeg (int steps=1, int T = 2000, int dir=RIGHT);
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void updown(float steps=1, int T=1000, int h = 20);
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void swing(float steps=1, int T=1000, int h=20);
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void tiptoeSwing(float steps=1, int T=900, int h=20);
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void jitter(float steps=1, int T=500, int h=20);
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void ascendingTurn(float steps=1, int T=900, int h=20);
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void updown(float steps=1, int T=1000, int h = 40);
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void swing(float steps=1, int T=1000, int h=40);
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void tiptoeSwing(float steps=1, int T=900, int h=40);
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void jitter(float steps=1, int T=500, int h=50);
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void ascendingTurn(float steps=1, int T=900, int h=50);
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void moonwalker(float steps=1, int T=900, int h=20, int dir=LEFT);
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void moonwalker(float steps=1, int T=900, int h=50, int dir=LEFT);
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void crusaito(float steps=1, int T=900, int h=20, int dir=FORWARD);
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void flapping(float steps=1, int T=1000, int h=20, int dir=FORWARD);
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void flapping(float steps=1, int T=1000, int h=50, int dir=FORWARD);
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void test_pos();
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void new_walk(int dir = FORWARD, float steps =4, int T=750);
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void new_turn(int dir = LEFT, float steps =2, int T=1000);
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private:
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