From 34ca1c5e01a3dcab1ad92e67a296938fd1c15c7e Mon Sep 17 00:00:00 2001 From: Lars H Date: Mon, 20 Nov 2017 12:38:27 +0100 Subject: [PATCH 1/4] 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 - -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= 1) for(int i=0;i= 1) for(int i=0;i= 1) for(int i=0;i= 1) for(int i=0;i -#include -#include - - - -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 - - From ae96447a6ec12c9a04afa0570271f152dcb5523b Mon Sep 17 00:00:00 2001 From: Lars H Date: Mon, 20 Nov 2017 12:39:45 +0100 Subject: [PATCH 2/4] New Code / Cleanup --- Hippie.cpp | 484 ++++++++++++++++++++++++++++++++++++++++++++++ Hippie.h | 90 +++++++++ Hippie_gestures.h | 70 +++++++ Hippie_mouths.h | 87 +++++++++ Hippie_sounds.h | 133 +++++++++++++ 5 files changed, 864 insertions(+) create mode 100644 Hippie.cpp create mode 100644 Hippie.h create mode 100644 Hippie_gestures.h create mode 100644 Hippie_mouths.h create mode 100644 Hippie_sounds.h diff --git a/Hippie.cpp b/Hippie.cpp new file mode 100644 index 0000000..82900a9 --- /dev/null +++ b/Hippie.cpp @@ -0,0 +1,484 @@ +#include "Arduino.h" + +#include "Hippie.h" +#include + + + +void Hippie::init(int YL, int YR, int RL, int RR, int Buzzer) { + + servo_pins[0] = YL; + servo_pins[1] = YR; + servo_pins[2] = RL; + servo_pins[3] = RR; + + attachServos(); + isHippieResting=false; + + + for (int i = 0; i < 4; i++) servo_position[i] = 90; + + + //Buzzer & noise sensor pins: + pinBuzzer = Buzzer; + + pinMode(Buzzer,OUTPUT); +} + +/////////////////////////////////////////////////////////////////// +//-- ATTACH & DETACH FUNCTIONS ----------------------------------// +/////////////////////////////////////////////////////////////////// +void Hippie::attachServos(){ + servo[0].attach(servo_pins[0]); + servo[1].attach(servo_pins[1]); + servo[2].attach(servo_pins[2]); + servo[3].attach(servo_pins[3]); +} + +void Hippie::detachServos(){ + servo[0].detach(); + servo[1].detach(); + servo[2].detach(); + servo[3].detach(); +} + + +/////////////////////////////////////////////////////////////////// +//-- BASIC MOTION FUNCTIONS -------------------------------------// +/////////////////////////////////////////////////////////////////// +void Hippie::_moveServos(int time, int servo_target[]) { + + attachServos(); + if(getRestState()==true){ + setRestState(false); + } + + 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 Hippie::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 Hippie::_execute(int A[4], int O[4], int T, double phase_diff[4], float steps = 1.0){ + + attachServos(); + if(getRestState()==true){ + setRestState(false); + } + + + int cycles=(int)steps; + + //-- Execute complete cycles + if (cycles >= 1) + for(int i = 0; i < cycles; i++) + oscillateServos(A,O, T, phase_diff); + + //-- Execute the final not complete cycle + oscillateServos(A,O, T, phase_diff,(float)steps-cycles); +} + + + +/////////////////////////////////////////////////////////////////// +//-- HOME = Hippie at rest position -------------------------------// +/////////////////////////////////////////////////////////////////// +void Hippie::home(){ + + if(isHippieResting==false){ //Go to rest position only if necessary + + int homes[4]={90, 90, 90, 90}; //All the servos at rest position + _moveServos(500,homes); //Move the servos in half a second + + detachServos(); + isHippieResting=true; + } +} + +bool Hippie::getRestState(){ + + return isHippieResting; +} + +void Hippie::setRestState(bool state){ + + isHippieResting = state; +} + + +/////////////////////////////////////////////////////////////////// +//-- PREDETERMINED MOTION SEQUENCES -----------------------------// +/////////////////////////////////////////////////////////////////// + +//--------------------------------------------------------- +//-- Hippie movement: Jump +//-- Parameters: +//-- steps: Number of steps +//-- T: Period +//--------------------------------------------------------- +void Hippie::jump(float steps, int T){ + + int up[]={90,90,150,30}; + _moveServos(T,up); + int down[]={90,90,90,90}; + _moveServos(T,down); +} + + +//--------------------------------------------------------- +//-- Hippie gait: Walking (forward or backward) +//-- Parameters: +//-- * steps: Number of steps +//-- * T : Period +//-- * Dir: Direction: FORWARD / BACKWARD +//--------------------------------------------------------- +void Hippie::walk(float steps, int T, int dir){ + + //-- Oscillator parameters for walking + //-- Hip sevos are in phase + //-- Feet servos are in phase + //-- Hip and feet are 90 degrees out of phase + //-- -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}; + double phase_diff[4] = {0, 0, DEG2RAD(dir * -90), DEG2RAD(dir * -90)}; + + //-- Let's oscillate the servos! + _execute(A, O, T, phase_diff, steps); +} + + +//--------------------------------------------------------- +//-- Hippie gait: Turning (left or right) +//-- Parameters: +//-- * Steps: Number of steps +//-- * T: Period +//-- * Dir: Direction: LEFT / RIGHT +//--------------------------------------------------------- +void Hippie::turn(float steps, int T, int dir){ + + //-- Same coordination than for walking (see Hippie::walk) + //-- The Amplitudes of the hip's oscillators are not igual + //-- When the right hip servo amplitude is higher, the steps taken by + //-- 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}; + double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)}; + + if (dir == LEFT) { + A[0] = 30; //-- Left hip servo + A[1] = 10; //-- Right hip servo + } + else { + A[0] = 10; + A[1] = 30; + } + + //-- Let's oscillate the servos! + _execute(A, O, T, phase_diff, steps); +} + + +//--------------------------------------------------------- +//-- Hippie gait: Lateral bend +//-- Parameters: +//-- steps: Number of bends +//-- T: Period of one bend +//-- dir: RIGHT=Right bend LEFT=Left bend +//--------------------------------------------------------- +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 homes[4]={90, 90, 90, 90}; + + //Time of one bend, constrained in order to avoid movements too fast. + //T=max(T, 600); + + //Changes in the parameters if right direction is chosen + if(dir==-1) + { + bend1[2]=180-35; + bend1[3]=180-60; //Not 65. Hippie is unbalanced + bend2[2]=180-105; + bend2[3]=180-60; + } + + //Time of the bend movement. Fixed parameter to avoid falls + int T2=800; + + //Bend movement + for (int i=0;i +#include + +#include "Hippie_mouths.h" +#include "Hippie_sounds.h" +#include "Hippie_gestures.h" + + +//-- Constants +#define FORWARD 1 +#define BACKWARD -1 +#define LEFT 1 +#define RIGHT -1 +#define SMALL 5 +#define MEDIUM 15 +#define BIG 30 + +#define PIN_Buzzer 10 +#define PIN_Trigger 8 +#define PIN_Echo 9 +#define PIN_NoiseSensor A6 + + +class Hippie +{ + public: + + //-- Hippie initialization + void init(int YL, int YR, int RL, int RR, int Buzzer=PIN_Buzzer); + + //-- Attach & detach functions + void attachServos(); + void detachServos(); + + //-- Predetermined Motion Functions + void _moveServos(int time, int servo_target[]); + void oscillateServos(int A[4], int O[4], int T, double phase_diff[4], float cycle); + + //-- HOME = Hippie at rest position + void home(); + bool getRestState(); + void setRestState(bool state); + + //-- Predetermined Motion Functions + void jump(float steps=1, int T = 2000); + + void walk(float steps=4, int T=1000, int dir = FORWARD); + void turn(float steps=4, int T=2000, 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 moonwalker(float steps=1, int T=900, int h=20, 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); + + + + + private: + + Oscillator servo[4]; + + int servo_pins[4]; + int servo_trim[4]; + int servo_position[4]; + + int pinBuzzer; + + unsigned long final_time; + unsigned long partial_time; + float increment[4]; + + bool isHippieResting; + + void _execute(int A[4], int O[4], int T, double phase_diff[4], float steps); + +}; + +#endif + + diff --git a/Hippie_gestures.h b/Hippie_gestures.h new file mode 100644 index 0000000..256e996 --- /dev/null +++ b/Hippie_gestures.h @@ -0,0 +1,70 @@ +#ifndef Zowi_gestures_h +#define Zowi_gestures_h + +//*********************************************************************************** +//*********************************GESTURE DEFINES*********************************** +//*********************************************************************************** + +#define ZowiHappy 0 +#define ZowiSuperHappy 1 +#define ZowiSad 2 +#define ZowiSleeping 3 +#define ZowiFart 4 +#define ZowiConfused 5 +#define ZowiLove 6 +#define ZowiAngry 7 +#define ZowiFretful 8 +#define ZowiMagic 9 +#define ZowiWave 10 +#define ZowiVictory 11 +#define ZowiFail 12 + +//*** MOUTH ANIMATIONS*** +#define littleUuh 0 +#define dreamMouth 1 +#define adivinawi 2 +#define wave 3 + + + // unsigned long int littleUuh_code[]={ + // 0b00000000000000001100001100000000, + // 0b00000000000000000110000110000000, + // 0b00000000000000000011000011000000, + // 0b00000000000000000110000110000000, + // 0b00000000000000001100001100000000, + // 0b00000000000000011000011000000000, + // 0b00000000000000110000110000000000, + // 0b00000000000000011000011000000000 + // }; + + // unsigned long int dreamMouth_code[]={ + // 0b00000000000000000000110000110000, + // 0b00000000000000010000101000010000, + // 0b00000000011000100100100100011000, + // 0b00000000000000010000101000010000 + // }; + + // unsigned long int adivinawi_code[]={ + // 0b00100001000000000000000000100001, + // 0b00010010100001000000100001010010, + // 0b00001100010010100001010010001100, + // 0b00000000001100010010001100000000, + // 0b00000000000000001100000000000000, + // 0b00000000000000000000000000000000 + // }; + + // unsigned long int wave_code[]={ + // 0b00001100010010100001000000000000, + // 0b00000110001001010000100000000000, + // 0b00000011000100001000010000100000, + // 0b00000001000010000100001000110000, + // 0b00000000000001000010100100011000, + // 0b00000000000000100001010010001100, + // 0b00000000100000010000001001000110, + // 0b00100000010000001000000100000011, + // 0b00110000001000000100000010000001, + // 0b00011000100100000010000001000000 + // }; + + +#endif \ No newline at end of file diff --git a/Hippie_mouths.h b/Hippie_mouths.h new file mode 100644 index 0000000..5a2ef3a --- /dev/null +++ b/Hippie_mouths.h @@ -0,0 +1,87 @@ +#ifndef Zowi_mouths_h +#define Zowi_mouths_h + + +//*********************************************************************************** +//*********************************MOUTHS DEFINES************************************ +//*********************************************************************************** + +#define zero_code 0b00001100010010010010010010001100 +#define one_code 0b00000100001100000100000100001110 +#define two_code 0b00001100010010000100001000011110 +#define three_code 0b00001100010010000100010010001100 +#define four_code 0b00010010010010011110000010000010 +#define five_code 0b00011110010000011100000010011100 +#define six_code 0b00000100001000011100010010001100 +#define seven_code 0b00011110000010000100001000010000 +#define eight_code 0b00001100010010001100010010001100 +#define nine_code 0b00001100010010001110000010001110 + +#define smile_code 0b00000000100001010010001100000000 +#define happyOpen_code 0b00000000111111010010001100000000 +#define happyClosed_code 0b00000000111111011110000000000000 +#define heart_code 0b00010010101101100001010010001100 + +#define bigSurprise_code 0b00001100010010100001010010001100 +#define smallSurprise_code 0b00000000000000001100001100000000 + +#define tongueOut_code 0b00111111001001001001000110000000 +#define vamp1_code 0b00111111101101101101010010000000 +#define vamp2_code 0b00111111101101010010000000000000 +#define lineMouth_code 0b00000000000000111111000000000000 + +#define confused_code 0b00000000001000010101100010000000 +#define diagonal_code 0b00100000010000001000000100000010 + +#define sad_code 0b00000000001100010010100001000000 +#define sadOpen_code 0b00000000001100010010111111000000 +#define sadClosed_code 0b00000000001100011110110011000000 + +#define okMouth_code 0b00000001000010010100001000000000 +#define xMouth_code 0b00100001010010001100010010100001 +#define interrogation_code 0b00001100010010000100000100000100 + +#define thunder_code 0b00000100001000011100001000010000 +#define culito_code 0b00000000100001101101010010000000 + +#define angry_code 0b00000000011110100001100001000000 + + +//Mouths sorted by numbers, and after, by happy to sad mouths +#define zero 0 +#define one 1 +#define two 2 +#define three 3 +#define four 4 +#define five 5 +#define six 6 +#define seven 7 +#define eight 8 +#define nine 9 +#define smile 10 +#define happyOpen 11 +#define happyClosed 12 +#define heart 13 +#define bigSurprise 14 +#define smallSurprise 15 +#define tongueOut 16 +#define vamp1 17 +#define vamp2 18 +#define lineMouth 19 +#define confused 20 +#define diagonal 21 +#define sad 22 +#define sadOpen 23 +#define sadClosed 24 +#define okMouth 25 +#define xMouth 26 +#define interrogation 27 +#define thunder 28 +#define culito 29 +#define angry 30 + + + +#endif + + diff --git a/Hippie_sounds.h b/Hippie_sounds.h new file mode 100644 index 0000000..288fdb9 --- /dev/null +++ b/Hippie_sounds.h @@ -0,0 +1,133 @@ +#ifndef Zowi_sounds_h +#define Zowi_sounds_h + +//*********************************************************************************** +//*********************************SOUNDS DEFINES************************************ +//*********************************************************************************** + + +// Reference: This list was adapted from the table located here: +// http://www.phy.mtu.edu/~suits/notefreqs.html +#define note_C0 16.35 //C0 +#define note_Db0 17.32 //C#0/Db0 +#define note_D0 18.35 //D0 +#define note_Eb0 19.45 //D#0/Eb0 +#define note_E0 20.6 //E0 +#define note_F0 21.83 //F0 +#define note_Gb0 23.12 //F#0/Gb0 +#define note_G0 24.5 //G0 +#define note_Ab0 25.96 //G#0/Ab0 +#define note_A0 27.5 //A0 +#define note_Bb0 29.14 //A#0/Bb0 +#define note_B0 30.87 //B0 +#define note_C1 32.7 //C1 +#define note_Db1 34.65 //C#1/Db1 +#define note_D1 36.71 //D1 +#define note_Eb1 38.89 //D#1/Eb1 +#define note_E1 41.2 //E1 +#define note_F1 43.65 //F1 +#define note_Gb1 46.25 //F#1/Gb1 +#define note_G1 49 //G1 +#define note_Ab1 51.91 //G#1/Ab1 +#define note_A1 55 //A1 +#define note_Bb1 58.27 //A#1/Bb1 +#define note_B1 61.74 //B1 +#define note_C2 65.41 //C2 (Middle C) +#define note_Db2 69.3 //C#2/Db2 +#define note_D2 73.42 //D2 +#define note_Eb2 77.78 //D#2/Eb2 +#define note_E2 82.41 //E2 +#define note_F2 87.31 //F2 +#define note_Gb2 92.5 //F#2/Gb2 +#define note_G2 98 //G2 +#define note_Ab2 103.83 //G#2/Ab2 +#define note_A2 110 //A2 +#define note_Bb2 116.54 //A#2/Bb2 +#define note_B2 123.47 //B2 +#define note_C3 130.81 //C3 +#define note_Db3 138.59 //C#3/Db3 +#define note_D3 146.83 //D3 +#define note_Eb3 155.56 //D#3/Eb3 +#define note_E3 164.81 //E3 +#define note_F3 174.61 //F3 +#define note_Gb3 185 //F#3/Gb3 +#define note_G3 196 //G3 +#define note_Ab3 207.65 //G#3/Ab3 +#define note_A3 220 //A3 +#define note_Bb3 233.08 //A#3/Bb3 +#define note_B3 246.94 //B3 +#define note_C4 261.63 //C4 +#define note_Db4 277.18 //C#4/Db4 +#define note_D4 293.66 //D4 +#define note_Eb4 311.13 //D#4/Eb4 +#define note_E4 329.63 //E4 +#define note_F4 349.23 //F4 +#define note_Gb4 369.99 //F#4/Gb4 +#define note_G4 392 //G4 +#define note_Ab4 415.3 //G#4/Ab4 +#define note_A4 440 //A4 +#define note_Bb4 466.16 //A#4/Bb4 +#define note_B4 493.88 //B4 +#define note_C5 523.25 //C5 +#define note_Db5 554.37 //C#5/Db5 +#define note_D5 587.33 //D5 +#define note_Eb5 622.25 //D#5/Eb5 +#define note_E5 659.26 //E5 +#define note_F5 698.46 //F5 +#define note_Gb5 739.99 //F#5/Gb5 +#define note_G5 783.99 //G5 +#define note_Ab5 830.61 //G#5/Ab5 +#define note_A5 880 //A5 +#define note_Bb5 932.33 //A#5/Bb5 +#define note_B5 987.77 //B5 +#define note_C6 1046.5 //C6 +#define note_Db6 1108.73 //C#6/Db6 +#define note_D6 1174.66 //D6 +#define note_Eb6 1244.51 //D#6/Eb6 +#define note_E6 1318.51 //E6 +#define note_F6 1396.91 //F6 +#define note_Gb6 1479.98 //F#6/Gb6 +#define note_G6 1567.98 //G6 +#define note_Ab6 1661.22 //G#6/Ab6 +#define note_A6 1760 //A6 +#define note_Bb6 1864.66 //A#6/Bb6 +#define note_B6 1975.53 //B6 +#define note_C7 2093 //C7 +#define note_Db7 2217.46 //C#7/Db7 +#define note_D7 2349.32 //D7 +#define note_Eb7 2489.02 //D#7/Eb7 +#define note_E7 2637.02 //E7 +#define note_F7 2793.83 //F7 +#define note_Gb7 2959.96 //F#7/Gb7 +#define note_G7 3135.96 //G7 +#define note_Ab7 3322.44 //G#7/Ab7 +#define note_A7 3520 //A7 +#define note_Bb7 3729.31 //A#7/Bb7 +#define note_B7 3951.07 //B7 +#define note_C8 4186.01 //C8 +#define note_Db8 4434.92 //C#8/Db8 +#define note_D8 4698.64 //D8 +#define note_Eb8 4978.03 //D#8/Eb8 + + +#define S_connection 0 +#define S_disconnection 1 +#define S_buttonPushed 2 +#define S_mode1 3 +#define S_mode2 4 +#define S_mode3 5 +#define S_surprise 6 +#define S_OhOoh 7 +#define S_OhOoh2 8 +#define S_cuddly 9 +#define S_sleeping 10 +#define S_happy 11 +#define S_superHappy 12 +#define S_happy_short 13 +#define S_sad 14 +#define S_confused 15 +#define S_fart1 16 +#define S_fart2 17 +#define S_fart3 18 + +#endif \ No newline at end of file From 143e23360d88188f709799f57f79bcc6196b47b3 Mon Sep 17 00:00:00 2001 From: Lars H Date: Sat, 2 Dec 2017 13:21:05 +0100 Subject: [PATCH 3/4] updated --- Hippie.cpp | 166 +++++++++++++++++++++++++++++++++++++++++++++++------ Hippie.h | 23 ++++---- 2 files changed, 160 insertions(+), 29 deletions(-) diff --git a/Hippie.cpp b/Hippie.cpp index 82900a9..919bea1 100644 --- a/Hippie.cpp +++ b/Hippie.cpp @@ -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) @@ -169,9 +179,11 @@ 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 Date: Sat, 2 Dec 2017 13:23:56 +0100 Subject: [PATCH 4/4] arduino file added --- Zowi.ino | 255 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 255 insertions(+) create mode 100644 Zowi.ino diff --git a/Zowi.ino b/Zowi.ino new file mode 100644 index 0000000..bbdd34a --- /dev/null +++ b/Zowi.ino @@ -0,0 +1,255 @@ + + +/************************************************************************************** +* * +* Programa de calibracion de Hippie * +* Javier Isabel, 02/06/2015 * +* * +* En este programa se indica como calibrar a Hippie utilizando * +* la librera diseñada especificamente para el, hippie.h * +* * +**************************************************************************************/ + +#include //Libreria Hippie, disponible en el repositorio de GitHub de Hippie +#include +#include //Librera ArduSnake de Obijuan, en GitHub +#include +#include +#include + +const char* ssid = "Real_Hippie"; + +/************************************************************************************** +* * +* Empezamos por declarar un objeto de la clase Hippie. La clase Hippie * +* contiene funciones para calibrar a Hippie y para crear y ejecutar * +* diversos tipos de movimientos * +* * +**************************************************************************************/ + +Hippie hippie; +int posiciones[] = {90, 90, 90, 90}; + +boolean walk_forward = false; +boolean walk_backward = false; +boolean jump = false; +boolean turn_left = false; +boolean turn_right = false; +boolean shake = false; +boolean swing = false; +boolean tt_swing = false; +boolean jitter = false; +boolean bend = false; +boolean flap = false; +boolean moon = false; +boolean moon_r = false; +boolean cruise = false; +boolean test_pos = 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("Hips dont Lie", true, &Padle, COLOR_CARROT); + ESPUI.button("TT_Swing Button", &BeerButton,COLOR_PETERRIVER); + ESPUI.button("Swing Button", &BeerButton2,COLOR_PETERRIVER); + ESPUI.button("Angry Button", &BeerButton3,COLOR_PETERRIVER); + ESPUI.button("Jitter Button", &BeerButton4,COLOR_PETERRIVER); + ESPUI.button("Shake Button", &BeerButton5,COLOR_PETERRIVER); + ESPUI.button("Bend Button", &BeerButton6,COLOR_PETERRIVER); + ESPUI.button("Flap Button", &BeerButton7,COLOR_PETERRIVER); + ESPUI.button("Moonwalk Left Button", &BeerButton8,COLOR_PETERRIVER); + ESPUI.button("cruisato Button", &BeerButton9,COLOR_PETERRIVER); + ESPUI.button("Moonwalk Right Button", &BeerButton10,COLOR_PETERRIVER); + + ESPUI.switcher("Test", true, &test, COLOR_CARROT); + + ESPUI.begin("Hippie Control"); + +/************************************************************************************** +* * +* La funcion init sirve para configurar a Hippie, y se le pasan cinco parametros: * +* - (int) pin del servo superior izquierdo * +* - (int) pin del servo superior derecho * +* - (int) pin del servo inferior izquierdo * +* - (int) pin del servo inferior derecho * +* - (boolean) booleano que indica si quieren cargarse los valores de calibracion * +* de la memoria EEPROM (1, true) o no (0, false). Este valor puede omitirse, por * +* defecto sera 0 * +* * +**************************************************************************************/ + + hippie.init(25, 13, 26, 16, false); + //hippie.moveServos(500, posiciones); +} +void test(Control c, int type) { +} +void BeerButton(Control c, int type) { + if (type == B_DOWN) { + tt_swing = true; + } + else { + tt_swing = false; + } +} + +void BeerButton2(Control c, int type) { + if (type == B_DOWN) { + swing = true; + } + else { + swing = false; + } +} + +void BeerButton3(Control c, int type) { + if (type == B_DOWN) { + jump = true; + } + else { + jump = false; + } +} + +void BeerButton4(Control c, int type) { + if (type == B_DOWN) { + jitter = true; + } + else { + jitter = false; + } +} + +void BeerButton5(Control c, int type) { + if (type == B_DOWN) { + shake = true; + } + else { + shake = false; + } +} + +void BeerButton6(Control c, int type) { + if (type == B_DOWN) { + bend = true; + } + else { + bend = false; + } +} + +void BeerButton7(Control c, int type) { + if (type == B_DOWN) { + flap = true; + } + else { + flap = false; + } +} + +void BeerButton8(Control c, int type) { + if (type == B_DOWN) { + moon = true; + } + else { + moon = false; + } +} + +void BeerButton9(Control c, int type) { + if (type == B_DOWN) { + cruise = true; + } + else { + cruise = false; + } +} + +void BeerButton10(Control c, int type) { + if (type == B_DOWN) { + moon_r = true; + } + else { + moon_r = false; + } +} + + +void Padle (Control c, 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: + test_pos = true; + break; + case P_CENTER_UP: + test_pos = false; + break; + } +} + + + +void loop() +{ + + +/************************************************************************************** +* * +* Durante las pruebas utilizaremos la funcion moveServos para poner todos los servos * +* a 90º y comparar su posicion real con la posicion buscada * +* * +**************************************************************************************/ + + //hippie.walk(4,1800); + + if (walk_forward) hippie.new_walk(); + else if (walk_backward) hippie.new_walk(2,4,750); + else if (turn_left) hippie.new_turn(); + else if (turn_right) hippie.new_turn(2); + else if (shake) hippie.shakeLeg(); + else if (jump) hippie.jump(); + else if (swing) hippie.swing(); + else if (tt_swing) hippie.tiptoeSwing(); + else if (jitter) hippie.jitter(); + else if (bend) hippie.bend(); + else if (flap) hippie.flapping(); + else if (moon) hippie.moonwalker(); + else if (moon_r) hippie.moonwalker(1,900,50,-1); + else if (cruise) hippie.crusaito(); + else if (test_pos) hippie.test_pos(); + else hippie.home(); + +} +