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Lars H 2017-11-20 12:38:27 +01:00
parent 3dbc6cf151
commit 34ca1c5e01
2 changed files with 0 additions and 158 deletions
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116
Zowi.cpp
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#include "Zowi.h"
#include <Oscillator.h>
void Zowi::init(int YL, int YR, int RL, int RR, bool load_calibration) {
servo[0].attach(YL);
servo[1].attach(YR);
servo[2].attach(RL);
servo[3].attach(RR);
if (load_calibration) {
for (int i = 0; i < 4; i++) {
int servo_trim = EEPROM.read(i);
if (servo_trim > 128) servo_trim -= 256;
servo[i].SetTrim(servo_trim);
}
}
Serial.begin(115200);
Serial.println(" test");
for (int i = 0; i < 4; i++) servo_position[i] = 90;
}
void Zowi::setTrims(int YL, int YR, int RL, int RR) {
servo[0].SetTrim(YL);
servo[1].SetTrim(YR);
servo[2].SetTrim(RL);
servo[3].SetTrim(RR);
}
void Zowi::saveTrimsOnEEPROM() {
for (int i = 0; i < 4; i++) EEPROM.write(i, servo[i].getTrim());
}
void Zowi::moveServos(int time, int servo_target[]) {
if(time>10){
for (int i = 0; i < 4; i++) increment[i] = ((servo_target[i]) - servo_position[i]) / (time / 10.0);
final_time = millis() + time;
for (int iteration = 1; millis() < final_time; iteration++) {
partial_time = millis() + 10;
for (int i = 0; i < 4; i++) servo[i].SetPosition(servo_position[i] + (iteration * increment[i]));
while (millis() < partial_time); //pause
}
}
else{
for (int i = 0; i < 4; i++) servo[i].SetPosition(servo_target[i]);
}
for (int i = 0; i < 4; i++) servo_position[i] = servo_target[i];
}
void Zowi::oscillateServos(int A[4], int O[4], int T, double phase_diff[4], float cycle=1){
for (int i=0; i<4; i++) {
servo[i].SetO(O[i]);
servo[i].SetA(A[i]);
servo[i].SetT(T);
servo[i].SetPh(phase_diff[i]);
}
double ref=millis();
for (double x=ref; x<T*cycle+ref; x=millis()){
for (int i=0; i<4; i++){
servo[i].refresh();
}
}
}
void Zowi::walk(float steps, int T){
int A[4]= {30, 30, 20, 20};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(180), DEG2RAD(180), DEG2RAD(90), DEG2RAD(90)};
int cycles=(int)steps;
if (cycles >= 1) for(int i=0;i<cycles;i++) oscillateServos(A,O, T, phase_diff);
oscillateServos(A,O, T, phase_diff,(float)steps-cycles);
}
void Zowi::backward(float steps, int T){
int A[4]= {15, 15, 30, 30};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(180), DEG2RAD(180), DEG2RAD(270), DEG2RAD(270)};
int cycles=(int)steps;
if (cycles >= 1) for(int i=0;i<cycles;i++) oscillateServos(A,O, T, phase_diff);
oscillateServos(A,O, T, phase_diff,(float)steps-cycles);
}
void Zowi::turnLeft(float steps, int T){
int A[4]= {10, 10, 25, 25};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(90)};
int cycles=(int)steps;
if (cycles >= 1) for(int i=0;i<cycles;i++) oscillateServos(A,O, T, phase_diff);
oscillateServos(A,O, T, phase_diff,(float)steps-cycles);
}
void Zowi::turnRight(float steps, int T){
int A[4]= {20, 20, 30, 10};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};
int cycles=(int)steps;
if (cycles >= 1) for(int i=0;i<cycles;i++) oscillateServos(A,O, T, phase_diff);
oscillateServos(A,O, T, phase_diff,(float)steps-cycles);
}
void Zowi::jump(float steps, int T){
int up[]={90,90,150,30};
moveServos(T,up);
int down[]={90,90,90,90};
moveServos(T,down);
}

42
Zowi.h
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#ifndef Zowi_h
#define Zowi_h
#include "Arduino.h"
#include <ESP32_Servo.h>
#include <Oscillator.h>
#include <EEPROM.h>
class Zowi
{
public:
void init(int YL, int YR, int RL, int RR, bool load_calibration=0);
void setTrims(int YL, int YR, int RL, int RR);
void saveTrimsOnEEPROM();
void moveServos(int time, int servo_target[]);
void oscillateServos(int A[4], int O[4], int T, double phase_diff[4], float cycle);
void walk(float steps=4, int T=1566);
void turnLeft(float steps, int T);
void turnRight(float steps, int T);
void backward(float steps, int T);
void jump(float steps=1, int T=1000);
private:
Oscillator servo[4];
int servo_trim[4];
int servo_position[4];
unsigned long final_time;
unsigned long partial_time;
float increment[4];
};
#endif