Cleanup

Hippie.cpp

@@ -6,7 +6,7 @@
 
 
 void Hippie::init(int YL, int YR, int RL, int RR, int Buzzer) {
-  
+
   servo_pins[0] = YL;
   servo_pins[1] = YR;
   servo_pins[2] = RL;
@@ -15,11 +15,11 @@ void Hippie::init(int YL, int YR, int RL, int RR, int Buzzer) {
   attachServos();
   isHippieResting=false;
 
-  
+
   for (int i = 0; i < 4; i++) servo_position[i] = 90;
 
 
-  //Buzzer & noise sensor pins: 
+  //Buzzer & noise sensor pins:
   pinBuzzer = Buzzer;
 
   pinMode(Buzzer,OUTPUT);
@@ -95,14 +95,14 @@ void Hippie::_execute(int A[4], int O[4], int T, double phase_diff[4], float ste
   }
 
 
-  int cycles=(int)steps;    
+  int cycles=(int)steps;
 
   //-- Execute complete cycles
-  if (cycles >= 1) 
+  if (cycles >= 1)
-    for(int i = 0; i < cycles; i++) 
+    for(int i = 0; i < cycles; i++)
       oscillateServos(A,O, T, phase_diff);
-      
+
-  //-- Execute the final not complete cycle    
+  //-- Execute the final not complete cycle
   oscillateServos(A,O, T, phase_diff,(float)steps-cycles);
 }
 
@@ -156,15 +156,15 @@ void Hippie::jump(float steps, int T){
 //-- Hippie Test Positions (bring feets and hips in certain position)
 //---------------------------------------------------------
 void Hippie::test_pos(){
-	
+
 	int left_feet_up[4]={90,0,90,30};								//watch from view of robot: [3] = left leg ... by + value: turn right
 	_moveServos(1000,left_feet_up);									//							[4] = right leg ... by + value: right side up
-	
+
 }
 
 
 //---------------------------------------------------------
-//-- Hippie gait: Walking  (forward or backward)    
+//-- Hippie gait: Walking  (forward or backward)
 //--  Parameters:
 //--    * steps:  Number of steps
 //--    * T : Period
@@ -182,11 +182,11 @@ void Hippie::walk(float steps, int T, int dir){
   int A[4]= {30, 30, 40, 40}; //20
   int O[4] = {0, 0, 4, 30}; //-4
   double phase_diff[4] = {0, 0, DEG2RAD(dir * -90), DEG2RAD(dir * -90)};
-  
+
   if ( dir == -1) {   double phase_diff[4] = {0, 0, DEG2RAD(dir * 90), DEG2RAD(dir * 90)}; }
 
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps);  
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
@@ -202,13 +202,13 @@ void Hippie::turn(float steps, int T, int dir){
   //-- Same coordination than for walking (see Hippie::walk)
   //-- The Amplitudes of the hip's oscillators are not igual
   //-- When the right hip servo amplitude is higher, the steps taken by
-  //--   the right leg are bigger than the left. So, the robot describes an 
+  //--   the right leg are bigger than the left. So, the robot describes an
   //--   left arc
   int A[4]= {30, 30, 20, 20};
   int O[4] = {0, 0, 4, 30};
-  double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)}; 
+  double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)};
-    
+
-  if (dir == LEFT) {  
+  if (dir == LEFT) {
     A[0] = 50; //-- Left hip servo
     A[1] = 10; //-- Right hip servo
   }
@@ -217,9 +217,9 @@ void Hippie::turn(float steps, int T, int dir){
     A[1] = 50;
 	A[2] = 40;
   }
-    
+
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
@@ -233,14 +233,14 @@ void Hippie::turn(float steps, int T, int dir){
 void Hippie::bend (int steps, int T, int dir){
 
   //Parameters of all the movements. Default: Left bend
-  int bend1[4]={90, 90, 62, 35}; 
+  int bend1[4]={90, 90, 62, 35};
   int bend2[4]={90, 90, 62, 105+60};
   int homes[4]={90, 90, 90, 90};
 
   //Time of one bend, constrained in order to avoid movements too fast.
   //T=max(T, 600);
 
-  //Changes in the parameters if right direction is chosen 
+  //Changes in the parameters if right direction is chosen
   if(dir==-1)
   {
     bend1[2]=180-35;
@@ -250,7 +250,7 @@ void Hippie::bend (int steps, int T, int dir){
   }
 
   //Time of the bend movement. Fixed parameter to avoid falls
-  int T2=800; 
+  int T2=800;
 
   //Bend movement
   for (int i=0;i<steps;i++)
@@ -276,11 +276,11 @@ void Hippie::new_walk(int dir, float steps, int T){
 		int Pos_B[4] = {90,90,180, 180};
 		int Pos_C[4] = {90,45,90, 180};
 		int Pos_D[4] = {45,45,90,90};
-		
+
 		int Pos_E[4] = {45,45,30,30};
 		int Pos_F[4] = {150,150,30,90};
 		int Pos_G[4] = {150,150,90,90};
-	
+
 	// run movements
 		for (int i=0;i<steps;i++)
 		{
@@ -293,23 +293,23 @@ void Hippie::new_walk(int dir, float steps, int T){
 			_moveServos(T/2, Pos_E);
 			_moveServos(T/2, Pos_F);
 			_moveServos(T/2, Pos_G);
-			
+
 			//delay(T*3);
 		}
-	
+
 	}
-	
+
 	//Backwards
 	if (dir == 2){
 		int Pos_1[4] = {90,90,180, 90};
 		int Pos_2[4] = {90,90,180, 180};
 		int Pos_3[4] = {90,145,90, 180};
 		int Pos_4[4] = {145,145,90,90};
-		
+
 		int Pos_5[4] = {145,145,30,30};
 		int Pos_6[4] = {45,45,30,90};
-		int Pos_7[4] = {45,45,90,90};	
+		int Pos_7[4] = {45,45,90,90};
-		
+
 		// run movements
 		for (int i=0;i<steps;i++)
 		{
@@ -322,11 +322,11 @@ void Hippie::new_walk(int dir, float steps, int T){
 			_moveServos(T/2, Pos_5);
 			_moveServos(T/2, Pos_6);
 			_moveServos(T/2, Pos_7);
-			
+
 			//delay(T*3);
 		}
-		
+
-	}		
+	}
 }
 
 //--------------------------------------------------------
@@ -344,7 +344,7 @@ void Hippie::new_turn(int dir, float steps, int T){
 		int Pos_C[4] = {0,90,30,90};
 		int Pos_D[4] = {0,90,90,90};
 		int Pos_E[4] = {90,90,90,90};
-		
+
 		// run movements
 		for (int i=0;i<steps;i++)
 		{
@@ -353,10 +353,10 @@ void Hippie::new_turn(int dir, float steps, int T){
 			//delay(T);
 			_moveServos(T/2, Pos_C);
 			_moveServos(T/2, Pos_D);
-			_moveServos(T/2, Pos_E);	
+			_moveServos(T/2, Pos_E);
 		}
 	}
-	
+
 	//RIGHT
 	if (dir==2) {
 	// Positions of turning
@@ -365,7 +365,7 @@ void Hippie::new_turn(int dir, float steps, int T){
 		int Pos_3[4] = {90,180,90, 180};
 		int Pos_4[4] = {90,180,90,90};
 		int Pos_5[4] = {90,90,90,90};
-		
+
 		// run movements
 		for (int i=0;i<steps;i++)
 		{
@@ -374,7 +374,7 @@ void Hippie::new_turn(int dir, float steps, int T){
 			//delay(T);
 			_moveServos(T/2, Pos_3);
 			_moveServos(T/2, Pos_4);
-			_moveServos(T/2, Pos_5);	
+			_moveServos(T/2, Pos_5);
 		}
 	}
 }
@@ -392,13 +392,13 @@ void Hippie::shakeLeg (int steps,int T,int dir){
   int numberLegMoves=4;
 
   //Parameters of all the movements. Default: Right leg
-  int shake_leg1[4]={90, 90, 58, 35-15};   
+  int shake_leg1[4]={90, 90, 58, 35-15};
   int shake_leg2[4]={90, 90, 58, 120+30};
   int shake_leg3[4]={90, 90, 58, 60-30};
   int homes[4]={90, 90, 90, 90};
 
   //Changes in the parameters if left leg is chosen
-  if(dir==-1)      
+  if(dir==-1)
   {
     shake_leg1[2]=180-35;
     shake_leg1[3]=180-58;
@@ -407,19 +407,19 @@ void Hippie::shakeLeg (int steps,int T,int dir){
     shake_leg3[2]=180-60;
     shake_leg3[3]=180-58;
   }
-  
+
   //Time of the bend movement. Fixed parameter to avoid falls
-  int T2=1000;    
+  int T2=1000;
-  //Time of one shake, constrained in order to avoid movements too fast.            
+  //Time of one shake, constrained in order to avoid movements too fast.
   T=T-T2;
-  T=max(T,200*numberLegMoves);  
+  T=max(T,200*numberLegMoves);
 
   for (int j=0; j<steps;j++)
   {
   //Bend movement
   _moveServos(T2/2,shake_leg1);
   _moveServos(T2/2,shake_leg2);
-  
+
     //Shake movement
     for (int i=0;i<numberLegMoves;i++)
     {
@@ -428,7 +428,7 @@ void Hippie::shakeLeg (int steps,int T,int dir){
     }
     _moveServos(500,homes); //Return to home position
   }
-  
+
   delay(T);
 }
 
@@ -438,7 +438,7 @@ void Hippie::shakeLeg (int steps,int T,int dir){
 //--  Parameters:
 //--    * steps: Number of jumps
 //--    * T: Period
-//--    * h: Jump height: SMALL / MEDIUM / BIG 
+//--    * h: Jump height: SMALL / MEDIUM / BIG
 //--              (or a number in degrees 0 - 90)
 //---------------------------------------------------------
 void Hippie::updown(float steps, int T, int h){
@@ -450,9 +450,9 @@ void Hippie::updown(float steps, int T, int h){
   int A[4]= {0, 0, h, h};
   int O[4] = {0, 0, h, -h+50};
   double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(90)};
-  
+
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
@@ -470,9 +470,9 @@ void Hippie::swing(float steps, int T, int h){
   int A[4]= {0, 0, h, h};
   int O[4] = {0, 0, h/2-20, -h/2+50-20};
   double phase_diff[4] = {0, 0, DEG2RAD(0), DEG2RAD(0)};
-  
+
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
@@ -490,18 +490,18 @@ void Hippie::tiptoeSwing(float steps, int T, int h){
   int A[4]= {0, 0, h, h};
   int O[4] = {0, 0, h-20, -h+50};
   double phase_diff[4] = {0, 0, 0, 0};
-  
+
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
 //---------------------------------------------------------
-//-- Hippie gait: Jitter 
+//-- Hippie gait: Jitter
 //--  Parameters:
 //--    steps: Number of jitters
-//--    T: Period of one jitter 
+//--    T: Period of one jitter
-//--    h: height (Values between 5 - 25)   
+//--    h: height (Values between 5 - 25)
 //---------------------------------------------------------
 void Hippie::jitter(float steps, int T, int h){
 
@@ -514,9 +514,9 @@ void Hippie::jitter(float steps, int T, int h){
   int A[4]= {h, h, 0, 0};
   int O[4] = {0, 0, 0, 0};
   double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), 0, 0};
-  
+
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
@@ -525,7 +525,7 @@ void Hippie::jitter(float steps, int T, int h){
 //--  Parameters:
 //--    steps: Number of bends
 //--    T: Period of one bend
-//--    h: height (Values between 5 - 15) 
+//--    h: height (Values between 5 - 15)
 //---------------------------------------------------------
 void Hippie::ascendingTurn(float steps, int T, int h){
 
@@ -537,9 +537,9 @@ void Hippie::ascendingTurn(float steps, int T, int h){
   int A[4]= {h, h, h, h};
   int O[4] = {0, 0, h+4, -h+40};
   double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), DEG2RAD(-90), DEG2RAD(90)};
-  
+
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
@@ -562,14 +562,14 @@ void Hippie::moonwalker(float steps, int T, int h, int dir){
   //--  is 60 degrees.
   //--  Both amplitudes are equal. The offset is half the amplitud plus a little bit of
   //-   offset so that the robot tiptoe lightly
- 
+
   int A[4]= {0, 0, h, h};
   int O[4] = {0, 0, h/2+2, -h/2 -2+60};
   int phi = -dir * 90;
   double phase_diff[4] = {0, 0, DEG2RAD(phi), DEG2RAD(-60 * dir + phi)};
-  
+
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
@@ -586,9 +586,9 @@ void Hippie::crusaito(float steps, int T, int h, int dir){
   int A[4]= {25, 25, h, h};
   int O[4] = {0, 0, h/2+ 4, -h/2 - 4+30};
   double phase_diff[4] = {90, 90, DEG2RAD(0), DEG2RAD(-60 * dir)};
-  
+
   //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
+  _execute(A, O, T, phase_diff, steps);
 }
 
 
@@ -605,8 +605,7 @@ void Hippie::flapping(float steps, int T, int h, int dir){
   int A[4]= {12+10, 12+10, h, h};
   int O[4] = {0, 0, h - 10, -h + 10+60};
   double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(-90 * dir), DEG2RAD(90 * dir)};
-  
-  //-- Let's oscillate the servos!
-  _execute(A, O, T, phase_diff, steps); 
-}
 
+  //-- Let's oscillate the servos!
+  _execute(A, O, T, phase_diff, steps);
+}

Hippie.h

@@ -1,14 +1,8 @@
 #ifndef Hippie_h
 #define Hippie_h
 
-#include <ESP32_Servo.h>
 #include <Oscillator.h>
 
-#include "Hippie_mouths.h"
-#include "Hippie_sounds.h"
-#include "Hippie_gestures.h"
-
-
 //-- Constants
 #define FORWARD     1
 #define BACKWARD    -1
@@ -18,11 +12,6 @@
 #define MEDIUM      15
 #define BIG         30
 
-#define PIN_Buzzer  10
-#define PIN_Trigger 8
-#define PIN_Echo    9
-#define PIN_NoiseSensor A6
-
 
 class Hippie
 {
@@ -43,7 +32,7 @@ class Hippie
     void home();
     bool getRestState();
     void setRestState(bool state);
-    
+
     //-- Predetermined Motion Functions
     void jump(float steps=1, int T = 600);
 
@@ -61,15 +50,15 @@ class Hippie
     void moonwalker(float steps=1, int T=900, int h=50, int dir=LEFT);
     void crusaito(float steps=1, int T=900, int h=20, int dir=FORWARD);
     void flapping(float steps=1, int T=1000, int h=50, int dir=FORWARD);
-	
+
-	void test_pos();
+	  void test_pos();
 
     void new_walk(int dir = FORWARD, float steps =4, int T=750);
-	void new_turn(int dir = LEFT, float steps =2, int T=1000);
+	  void new_turn(int dir = LEFT, float steps =2, int T=1000);
+
 
- 
   private:
-    
+
     Oscillator servo[4];
 
     int servo_pins[4];
@@ -77,7 +66,7 @@ class Hippie
     int servo_position[4];
 
     int pinBuzzer;
-    
+
     unsigned long final_time;
     unsigned long partial_time;
     float increment[4];
@@ -89,5 +78,3 @@ class Hippie
 };
 
 #endif
-
-

Oscillator.cpp

@@ -5,31 +5,31 @@
 //-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011
 //-- GPL license
 //--------------------------------------------------------------
-#if defined(ARDUINO) && ARDUINO >= 100
+
-  #include "Arduino.h"
+#include "Arduino.h"
-#else
-  #include "WProgram.h"
-  #include <pins_arduino.h>
-#endif
 #include "Oscillator.h"
-#include <ESP32_Servo.h>
+#if defined(ESP32)
+  #include <ESP32_Servo.h>
+#else
+  #include <Servo.h>
+#endif
 
 //-- This function returns true if another sample
 //-- should be taken (i.e. the TS time has passed since
 //-- the last sample was taken
 bool Oscillator::next_sample()
 {
-  
+
   //-- Read current time
   _currentMillis = millis();
- 
+
   //-- Check if the timeout has passed
   if(_currentMillis - _previousMillis > _TS) {
-    _previousMillis = _currentMillis;   
+    _previousMillis = _currentMillis;
 
     return true;
   }
-  
+
   return false;
 }
 
@@ -39,9 +39,6 @@ bool Oscillator::next_sample()
 void Oscillator::attach(int pin, bool rev)
 {
   //-- If the oscillator is detached, attach it.
-	//Serial.println("PANIIIIIIIIIIIIIIIIIC");
-//	Serial.println(!_servo.attached());
-  //if(!_servo.attached()){
 
     //-- Attach the servo and move it to the home position
       _servo.attach(pin);
@@ -64,8 +61,7 @@ void Oscillator::attach(int pin, bool rev)
 
       //-- Reverse mode
       _rev = rev;
-  //}
+
-      
 }
 
 //-- Detach an oscillator from his servo
@@ -84,7 +80,7 @@ void Oscillator::SetT(unsigned int T)
 {
   //-- Assign the new period
   _T=T;
-  
+
   //-- Recalculate the parameters
   __N = _T/_TS;
   _inc = 2*M_PI/__N;
@@ -107,10 +103,10 @@ void Oscillator::SetPosition(int position)
 /*******************************************************************/
 void Oscillator::refresh()
 {
-  
+
   //-- Only When TS milliseconds have passed, the new sample is obtained
   if (next_sample()) {
-  
+
       //-- If the oscillator is not stopped, calculate the servo position
       if (!_stop) {
         //-- Sample the sine function and set the servo pos

Oscillator.h

@@ -8,7 +8,11 @@
 #ifndef Oscillator_h
 #define Oscillator_h
 
-#include <ESP32_Servo.h>
+#if defined(ESP32)
+  #include <ESP32_Servo.h>
+#else
+  #include <Servo.h>
+#endif
 
 //-- Macro for converting from degrees to radians
 #ifndef DEG2RAD
@@ -21,32 +25,32 @@ class Oscillator
     Oscillator(int trim=0) {_trim=trim;};
     void attach(int pin, bool rev =false);
     void detach();
-    
+
     void SetA(unsigned int A) {_A=A;};
     void SetO(unsigned int O) {_O=O;};
     void SetPh(double Ph) {_phase0=Ph;};
     void SetT(unsigned int T);
     void SetTrim(int trim){_trim=trim;};
     int getTrim() {return _trim;};
-    void SetPosition(int position); 
+    void SetPosition(int position);
     void Stop() {_stop=true;};
     void Play() {_stop=false;};
     void Reset() {_phase=0;};
     void refresh();
-    
+
   private:
-    bool next_sample();  
+    bool next_sample();
-    
+
   private:
     //-- Servo that is attached to the oscillator
     Servo _servo;
-    
+
     //-- Oscillators parameters
     unsigned int _A;  //-- Amplitude (degrees)
     unsigned int _O;  //-- Offset (degrees)
     unsigned int _T;  //-- Period (miliseconds)
     double _phase0;   //-- Phase (radians)
-    
+
     //-- Internal variables
     int _pos;         //-- Current servo pos
     int _trim;        //-- Calibration offset
@@ -54,10 +58,10 @@ class Oscillator
     double _inc;      //-- Increment of phase
     double __N;        //-- Number of samples
     unsigned int _TS; //-- sampling period (ms)
-    
+
-    long _previousMillis; 
+    long _previousMillis;
     long _currentMillis;
-    
+
     //-- Oscillation mode. If true, the servo is stopped
     bool _stop;
 
@@ -65,4 +69,4 @@ class Oscillator
     bool _rev;
 };
 
-#endif
+#endif