Initial commit

minikame.ino

@@ -0,0 +1,244 @@
+#include <Arduino.h>
+#include "LARS.h"
+#include <WiFi.h>
+#include <ESPUI.h>
+
+const char* ssid = "Lars";
+
+#define TIME_INTERVAL 5000
+
+/*
+#define FORWARD 'f'
+#define LEFT 'l'
+#define STAND 's'
+#define RIGHT 'r'
+#define BACKWARD 'b'
+#define GO 'g'
+#define RIGHT_FRONT 'c'
+#define RIGHT_BACK 'e'
+#define LEFT_FRONT 'd'
+#define LEFT_BACK 'h'
+*/
+
+
+LARS robot;
+
+bool state = true;
+
+
+
+boolean walk_forward = false;
+boolean walk_backward = false;
+boolean hello = false;
+boolean turn_left = false;
+boolean turn_right = false;
+boolean moonwalk = false;
+boolean audience = false;
+boolean omni = false;
+boolean omni_left = false;
+boolean dance = false;
+boolean upDown = false;
+boolean PushUp = false;
+
+void setup() {
+  Serial.begin(115200);
+  WiFi.mode(WIFI_AP);
+  WiFi.setHostname(ssid);
+  WiFi.softAP(ssid);
+  //WiFi.softAP(ssid, password);
+  Serial.println("");
+  Serial.print("IP address: ");
+  Serial.println(WiFi.softAPIP());
+
+
+  ESPUI.pad("Walking Control", true, &MegaMaxim);
+  ESPUI.button("Wave  Button", &AudienceButton);
+  ESPUI.button("MoonWalk  Button", &BeerButton);
+  ESPUI.button("Dance  Button", &BeerButton3);
+  ESPUI.button("PushUp  Button", &BeerButton4);
+  ESPUI.button("upDown  Button", &BeerButton5);
+  ESPUI.button("Slow Turn Right", &BeerButton6);
+  ESPUI.button("Slow Turn left", &BeerButton7);
+
+  ESPUI.begin("Crabby Control");
+  
+  robot.init();
+  delay(1000);
+}
+
+void AudienceButton(int id, int type) {
+  if (type == B_DOWN) {
+    audience = true;
+  }
+  else {
+    audience = false;
+  }
+}
+
+
+void BeerButton(int id, int type) {
+  if (type == B_DOWN) {
+    moonwalk = true;
+  }
+  else {
+    moonwalk = false;
+  }
+}
+
+void BeerButton3(int id, int type) {
+  if (type == B_DOWN) {
+    dance = true;
+  }
+  else {
+    dance = false;
+  }
+}
+void BeerButton4(int id, int type) {
+  if (type == B_DOWN) {
+    PushUp = true;
+  }
+  else {
+    PushUp = false;
+  }
+}
+void BeerButton5(int id, int type) {
+  if (type == B_DOWN) {
+    upDown = true;
+  }
+  else {
+    upDown = false;
+  }
+}
+void BeerButton6(int id, int type) {
+  if (type == B_DOWN) {
+    omni = true;
+  }
+  else {
+    omni = false;
+  }
+}
+
+void BeerButton7(int id, int type) {
+  if (type == B_DOWN) {
+    omni_left = true;
+  }
+  else {
+    omni_left = false;
+  }
+}
+
+void MegaMaxim (int id, int value) {
+  switch (value) {
+    case P_LEFT_DOWN:
+      turn_left = true;
+      break;
+    case P_LEFT_UP:
+      turn_left = false;
+      break;
+    case P_RIGHT_DOWN:
+      turn_right = true;
+      break;
+    case P_RIGHT_UP:
+      turn_right = false;
+      break;
+    case P_FOR_DOWN:
+      walk_forward = true;
+      break;
+    case P_FOR_UP:
+      walk_forward = false;
+      break;
+    case P_BACK_DOWN:
+      walk_backward = true;
+      break;
+    case P_BACK_UP:
+      walk_backward = false;
+      break;
+    case P_CENTER_DOWN:
+      hello = true;
+      break;
+    case P_CENTER_UP:
+      hello = false;
+      break;
+  }
+}
+
+
+
+void loop() {
+
+if (walk_forward) robot.walk();
+else if (walk_backward) robot.walk(0);
+else if (hello) robot.hello();
+else if (turn_left) robot.turnL(1, 550);
+else if (turn_right) robot.turnR(1, 550);
+else if (moonwalk) robot.moonwalkL(1, 5000);
+else if (audience) robot.wave();
+else if (dance) robot.dance(1, 600);
+else if (omni) robot.omniWalk(1, 600, true, 1);
+else if (omni_left) robot.omniWalk(1, 600, false, 1);
+else if (PushUp) robot.pushUp(1, 600);
+else if (upDown) robot.upDown(1, 5000);
+else robot.home();
+
+}
+
+/*
+void serialEvent() {
+  char tmp = -1;
+  boolean taken = false;
+
+  while (Serial.available()) {
+    state = !state;
+ //   analogWrite(LED_PIN, 128 * state); //flashing LED indicating cmd received
+    tmp = Serial.read (); //Serial.println(cmd);
+   // not_gaits(tmp);
+    taken = gaits(tmp);
+    if (taken) cmd = tmp;
+  }
+}
+
+
+boolean  gaits(char cmd) {
+  bool taken = true;
+  switch (cmd) {
+    case GO:
+      robot.walk();
+      break;
+    case FORWARD:
+      robot.hello();
+      break;
+    case BACKWARD:
+      //robot.run(0);
+      robot.walk(0);
+      break;
+    case RIGHT:
+      robot.turnR(1, 550);
+      break;
+    case LEFT:
+      robot.turnL(1, 550);
+      break;
+    case RIGHT_FRONT:
+      robot.turnR(1, 550);
+      robot.walk();
+      break;
+    case RIGHT_BACK:
+      robot.turnR(1, 550);
+      robot.walk(0);
+      break;
+    case LEFT_FRONT:
+      robot.turnL(1, 550);
+      robot.walk();
+      break;
+    case LEFT_BACK:
+      robot.turnL(1, 550);
+      robot.walk(0);
+      break;
+    case STAND:
+      robot.home();
+      break;
+    default:
+      taken = false;
+  }
+  return taken;
+}
+*/