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Lars H 2017-11-17 13:20:48 +01:00
commit 3dbc6cf151
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129
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//--------------------------------------------------------------
//-- Oscillator.pde
//-- Generate sinusoidal oscillations in the servos
//--------------------------------------------------------------
//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011
//-- GPL license
//--------------------------------------------------------------
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#include <pins_arduino.h>
#endif
#include "Oscillator.h"
#include <ESP32_Servo.h>
//-- 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;
return true;
}
return false;
}
//-- Attach an oscillator to a servo
//-- Input: pin is the arduino pin were the servo
//-- is connected
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);
_servo.write(90);
//-- Initialization of oscilaltor parameters
_TS=30;
_T=2000;
__N = _T/_TS;
_inc = 2*M_PI/__N;
_previousMillis=0;
//-- Default parameters
_A=45;
_phase=0;
_phase0=0;
_O=0;
_stop=false;
//-- Reverse mode
_rev = rev;
//}
}
//-- Detach an oscillator from his servo
void Oscillator::detach()
{
//-- If the oscillator is attached, detach it.
if(_servo.attached())
_servo.detach();
}
/*************************************/
/* Set the oscillator period, in ms */
/*************************************/
void Oscillator::SetT(unsigned int T)
{
//-- Assign the new period
_T=T;
//-- Recalculate the parameters
__N = _T/_TS;
_inc = 2*M_PI/__N;
};
/*******************************/
/* Manual set of the position */
/******************************/
void Oscillator::SetPosition(int position)
{
_servo.write(position+_trim);
};
/*******************************************************************/
/* This function should be periodically called */
/* in order to maintain the oscillations. It calculates */
/* if another sample should be taken and position the servo if so */
/*******************************************************************/
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
_pos = round(_A * sin(_phase + _phase0) + _O);
if (_rev) _pos=-_pos;
Serial.println(_pos+90+_trim);
_servo.write(_pos+90+_trim);
}
//-- Increment the phase
//-- It is always increased, even when the oscillator is stop
//-- so that the coordination is always kept
_phase = _phase + _inc;
}
}

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//--------------------------------------------------------------
//-- Oscillator.pde
//-- Generate sinusoidal oscillations in the servos
//--------------------------------------------------------------
//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011
//-- GPL license
//--------------------------------------------------------------
#ifndef Oscillator_h
#define Oscillator_h
#include <ESP32_Servo.h>
//-- Macro for converting from degrees to radians
#ifndef DEG2RAD
#define DEG2RAD(g) ((g)*M_PI)/180
#endif
class Oscillator
{
public:
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 Stop() {_stop=true;};
void Play() {_stop=false;};
void Reset() {_phase=0;};
void refresh();
private:
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
double _phase; //-- Current phase
double _inc; //-- Increment of phase
double __N; //-- Number of samples
unsigned int _TS; //-- sampling period (ms)
long _previousMillis;
long _currentMillis;
//-- Oscillation mode. If true, the servo is stopped
bool _stop;
//-- Reverse mode
bool _rev;
};
#endif

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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);
}

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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