From 34ca1c5e01a3dcab1ad92e67a296938fd1c15c7e Mon Sep 17 00:00:00 2001
From: Lars H <larshin@web.de>
Date: Mon, 20 Nov 2017 12:38:27 +0100
Subject: [PATCH] New Code / Cleanup

---
 Zowi.cpp | 116 -------------------------------------------------------
 Zowi.h   |  42 --------------------
 2 files changed, 158 deletions(-)
 delete mode 100644 Zowi.cpp
 delete mode 100644 Zowi.h

diff --git a/Zowi.cpp b/Zowi.cpp
deleted file mode 100644
index f64b40e..0000000
--- a/Zowi.cpp
+++ /dev/null
@@ -1,116 +0,0 @@
-#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);
-}
diff --git a/Zowi.h b/Zowi.h
deleted file mode 100644
index 4b754d6..0000000
--- a/Zowi.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#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
-
-