This commit is contained in:
Lars H 2017-12-02 13:21:05 +01:00
parent ae96447a6e
commit 143e23360d
2 changed files with 160 additions and 29 deletions

View File

@ -146,12 +146,22 @@ void Hippie::setRestState(bool state){
//---------------------------------------------------------
void Hippie::jump(float steps, int T){
int up[]={90,90,150,30};
int up[]={90,90,165,15};
_moveServos(T,up);
int down[]={90,90,90,90};
_moveServos(T,down);
}
//---------------------------------------------------------
//-- 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)
@ -169,10 +179,12 @@ void Hippie::walk(float steps, int T, int dir){
//-- -90 : Walk forward
//-- 90 : Walk backward
//-- Feet servos also have the same offset (for tiptoe a little bit)
int A[4]= {30, 30, 20, 20};
int O[4] = {0, 0, 4, -4};
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);
}
@ -193,16 +205,17 @@ void Hippie::turn(float steps, int T, int dir){
//-- 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, -4};
int O[4] = {0, 0, 4, 30};
double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)};
if (dir == LEFT) {
A[0] = 30; //-- Left hip servo
A[0] = 50; //-- Left hip servo
A[1] = 10; //-- Right hip servo
}
else {
A[0] = 10;
A[1] = 30;
A[1] = 50;
A[2] = 40;
}
//-- Let's oscillate the servos!
@ -221,7 +234,7 @@ 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 bend2[4]={90, 90, 62, 105};
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.
@ -250,6 +263,121 @@ void Hippie::bend (int steps, int T, int dir){
}
//--------------------------------------------------------
//-- New Walk Move
//-- number of steps
//-- T: Period of one steps
//-- dir: direction of movement
//--------------------------------------------------------
void Hippie::new_walk(int dir, float steps, int T){
if(dir==1){
// Positions of walking
int Pos_A[4] = {90,90,180, 90};
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++)
{
_moveServos(T/2, Pos_A);
_moveServos(T/3, Pos_B);
//delay(T);
_moveServos(T/2, Pos_C);
_moveServos(T/2, Pos_D);
//delay(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};
// run movements
for (int i=0;i<steps;i++)
{
_moveServos(T/2, Pos_1);
_moveServos(T/3, Pos_2);
//delay(T);
_moveServos(T/2, Pos_3);
_moveServos(T/2, Pos_4);
//delay(T);
_moveServos(T/2, Pos_5);
_moveServos(T/2, Pos_6);
_moveServos(T/2, Pos_7);
//delay(T*3);
}
}
}
//--------------------------------------------------------
//-- New Turn Move
//-- number of steps
//-- T: Period of one steps
//-- dir: direction of movement
//--------------------------------------------------------
void Hippie::new_turn(int dir, float steps, int T){
//LEFT
if (dir==1) {
// Positions of turning
int Pos_A[4] = {90,90,90, 30};
int Pos_B[4] = {90,90,30, 30};
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++)
{
_moveServos(T/2, Pos_A);
_moveServos(T/3, Pos_B);
//delay(T);
_moveServos(T/2, Pos_C);
_moveServos(T/2, Pos_D);
_moveServos(T/2, Pos_E);
}
}
//RIGHT
if (dir==2) {
// Positions of turning
int Pos_1[4] = {90,90,180, 90};
int Pos_2[4] = {90,90,180, 180};
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++)
{
_moveServos(T/2, Pos_1);
_moveServos(T/3, Pos_2);
//delay(T);
_moveServos(T/2, Pos_3);
_moveServos(T/2, Pos_4);
_moveServos(T/2, Pos_5);
}
}
}
//---------------------------------------------------------
//-- Hippie gait: Shake a leg
@ -261,12 +389,12 @@ void Hippie::bend (int steps, int T, int dir){
void Hippie::shakeLeg (int steps,int T,int dir){
//This variable change the amount of shakes
int numberLegMoves=2;
int numberLegMoves=4;
//Parameters of all the movements. Default: Right leg
int shake_leg1[4]={90, 90, 58, 35};
int shake_leg2[4]={90, 90, 58, 120};
int shake_leg3[4]={90, 90, 58, 60};
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
@ -320,7 +448,7 @@ void Hippie::updown(float steps, int T, int h){
//-- Initial phase for the right foot is -90, so that it starts
//-- in one extreme position (not in the middle)
int A[4]= {0, 0, h, h};
int O[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!
@ -340,7 +468,7 @@ void Hippie::swing(float steps, int T, int h){
//-- Both feets are in phase. The offset is half the amplitude
//-- It causes the robot to swing from side to side
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h/2, -h/2};
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!
@ -360,7 +488,7 @@ void Hippie::tiptoeSwing(float steps, int T, int h){
//-- Both feets are in phase. The offset is not half the amplitude in order to tiptoe
//-- It causes the robot to swing from side to side
int A[4]= {0, 0, h, h};
int O[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!
@ -407,7 +535,7 @@ void Hippie::ascendingTurn(float steps, int T, int h){
//-- h is constrained to avoid hit the feets
h=min(13,h);
int A[4]= {h, h, h, h};
int O[4] = {0, 0, h+4, -h+4};
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!
@ -436,7 +564,7 @@ void Hippie::moonwalker(float steps, int T, int h, int dir){
//- 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};
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)};
@ -456,7 +584,7 @@ void Hippie::moonwalker(float steps, int T, int h, int dir){
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};
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!
@ -474,8 +602,8 @@ void Hippie::crusaito(float steps, int T, int h, int dir){
//---------------------------------------------------------
void Hippie::flapping(float steps, int T, int h, int dir){
int A[4]= {12, 12, h, h};
int O[4] = {0, 0, h - 10, -h + 10};
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!

View File

@ -45,24 +45,27 @@ class Hippie
void setRestState(bool state);
//-- Predetermined Motion Functions
void jump(float steps=1, int T = 2000);
void jump(float steps=1, int T = 600);
void walk(float steps=4, int T=1000, int dir = FORWARD);
void turn(float steps=4, int T=2000, int dir = LEFT);
void turn(float steps=4, int T=1000, int dir = LEFT);
void bend (int steps=1, int T=1400, int dir=LEFT);
void shakeLeg (int steps=1, int T = 2000, int dir=RIGHT);
void updown(float steps=1, int T=1000, int h = 20);
void swing(float steps=1, int T=1000, int h=20);
void tiptoeSwing(float steps=1, int T=900, int h=20);
void jitter(float steps=1, int T=500, int h=20);
void ascendingTurn(float steps=1, int T=900, int h=20);
void updown(float steps=1, int T=1000, int h = 40);
void swing(float steps=1, int T=1000, int h=40);
void tiptoeSwing(float steps=1, int T=900, int h=40);
void jitter(float steps=1, int T=500, int h=50);
void ascendingTurn(float steps=1, int T=900, int h=50);
void moonwalker(float steps=1, int T=900, int h=20, int dir=LEFT);
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=20, int dir=FORWARD);
void flapping(float steps=1, int T=1000, int h=50, int dir=FORWARD);
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);
private: