Cleanup
This commit is contained in:
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16d38c6435
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139
Hippie.cpp
139
Hippie.cpp
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@ -6,7 +6,7 @@
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void Hippie::init(int YL, int YR, int RL, int RR, int Buzzer) {
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servo_pins[0] = YL;
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servo_pins[1] = YR;
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servo_pins[2] = RL;
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@ -15,11 +15,11 @@ void Hippie::init(int YL, int YR, int RL, int RR, int Buzzer) {
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attachServos();
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isHippieResting=false;
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for (int i = 0; i < 4; i++) servo_position[i] = 90;
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//Buzzer & noise sensor pins:
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//Buzzer & noise sensor pins:
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pinBuzzer = Buzzer;
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pinMode(Buzzer,OUTPUT);
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@ -95,14 +95,14 @@ void Hippie::_execute(int A[4], int O[4], int T, double phase_diff[4], float ste
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}
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int cycles=(int)steps;
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int cycles=(int)steps;
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//-- Execute complete cycles
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if (cycles >= 1)
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for(int i = 0; i < cycles; i++)
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if (cycles >= 1)
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for(int i = 0; i < cycles; i++)
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oscillateServos(A,O, T, phase_diff);
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//-- Execute the final not complete cycle
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//-- Execute the final not complete cycle
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oscillateServos(A,O, T, phase_diff,(float)steps-cycles);
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}
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@ -156,15 +156,15 @@ void Hippie::jump(float steps, int T){
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//-- Hippie Test Positions (bring feets and hips in certain position)
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//---------------------------------------------------------
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void Hippie::test_pos(){
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int left_feet_up[4]={90,0,90,30}; //watch from view of robot: [3] = left leg ... by + value: turn right
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_moveServos(1000,left_feet_up); // [4] = right leg ... by + value: right side up
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}
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//---------------------------------------------------------
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//-- Hippie gait: Walking (forward or backward)
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//-- Hippie gait: Walking (forward or backward)
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//-- Parameters:
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//-- * steps: Number of steps
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//-- * T : Period
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@ -182,11 +182,11 @@ void Hippie::walk(float steps, int T, int dir){
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int A[4]= {30, 30, 40, 40}; //20
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int O[4] = {0, 0, 4, 30}; //-4
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double phase_diff[4] = {0, 0, DEG2RAD(dir * -90), DEG2RAD(dir * -90)};
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if ( dir == -1) { double phase_diff[4] = {0, 0, DEG2RAD(dir * 90), DEG2RAD(dir * 90)}; }
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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@ -202,13 +202,13 @@ void Hippie::turn(float steps, int T, int dir){
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//-- Same coordination than for walking (see Hippie::walk)
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//-- The Amplitudes of the hip's oscillators are not igual
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//-- When the right hip servo amplitude is higher, the steps taken by
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//-- the right leg are bigger than the left. So, the robot describes an
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//-- the right leg are bigger than the left. So, the robot describes an
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//-- left arc
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int A[4]= {30, 30, 20, 20};
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int O[4] = {0, 0, 4, 30};
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double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)};
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if (dir == LEFT) {
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double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)};
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if (dir == LEFT) {
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A[0] = 50; //-- Left hip servo
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A[1] = 10; //-- Right hip servo
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}
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@ -217,9 +217,9 @@ void Hippie::turn(float steps, int T, int dir){
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A[1] = 50;
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A[2] = 40;
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}
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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@ -233,14 +233,14 @@ void Hippie::turn(float steps, int T, int dir){
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void Hippie::bend (int steps, int T, int dir){
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//Parameters of all the movements. Default: Left bend
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int bend1[4]={90, 90, 62, 35};
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int bend1[4]={90, 90, 62, 35};
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int bend2[4]={90, 90, 62, 105+60};
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int homes[4]={90, 90, 90, 90};
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//Time of one bend, constrained in order to avoid movements too fast.
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//T=max(T, 600);
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//Changes in the parameters if right direction is chosen
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//Changes in the parameters if right direction is chosen
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if(dir==-1)
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{
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bend1[2]=180-35;
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@ -250,7 +250,7 @@ void Hippie::bend (int steps, int T, int dir){
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}
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//Time of the bend movement. Fixed parameter to avoid falls
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int T2=800;
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int T2=800;
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//Bend movement
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for (int i=0;i<steps;i++)
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@ -276,11 +276,11 @@ void Hippie::new_walk(int dir, float steps, int T){
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int Pos_B[4] = {90,90,180, 180};
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int Pos_C[4] = {90,45,90, 180};
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int Pos_D[4] = {45,45,90,90};
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int Pos_E[4] = {45,45,30,30};
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int Pos_F[4] = {150,150,30,90};
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int Pos_G[4] = {150,150,90,90};
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// run movements
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for (int i=0;i<steps;i++)
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{
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@ -293,23 +293,23 @@ void Hippie::new_walk(int dir, float steps, int T){
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_moveServos(T/2, Pos_E);
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_moveServos(T/2, Pos_F);
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_moveServos(T/2, Pos_G);
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//delay(T*3);
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}
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}
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//Backwards
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if (dir == 2){
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int Pos_1[4] = {90,90,180, 90};
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int Pos_2[4] = {90,90,180, 180};
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int Pos_3[4] = {90,145,90, 180};
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int Pos_4[4] = {145,145,90,90};
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int Pos_5[4] = {145,145,30,30};
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int Pos_6[4] = {45,45,30,90};
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int Pos_7[4] = {45,45,90,90};
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int Pos_7[4] = {45,45,90,90};
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// run movements
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for (int i=0;i<steps;i++)
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{
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@ -322,11 +322,11 @@ void Hippie::new_walk(int dir, float steps, int T){
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_moveServos(T/2, Pos_5);
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_moveServos(T/2, Pos_6);
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_moveServos(T/2, Pos_7);
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//delay(T*3);
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}
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}
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}
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}
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//--------------------------------------------------------
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@ -344,7 +344,7 @@ void Hippie::new_turn(int dir, float steps, int T){
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int Pos_C[4] = {0,90,30,90};
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int Pos_D[4] = {0,90,90,90};
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int Pos_E[4] = {90,90,90,90};
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// run movements
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for (int i=0;i<steps;i++)
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{
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@ -353,10 +353,10 @@ void Hippie::new_turn(int dir, float steps, int T){
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//delay(T);
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_moveServos(T/2, Pos_C);
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_moveServos(T/2, Pos_D);
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_moveServos(T/2, Pos_E);
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_moveServos(T/2, Pos_E);
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}
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}
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//RIGHT
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if (dir==2) {
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// Positions of turning
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@ -365,7 +365,7 @@ void Hippie::new_turn(int dir, float steps, int T){
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int Pos_3[4] = {90,180,90, 180};
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int Pos_4[4] = {90,180,90,90};
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int Pos_5[4] = {90,90,90,90};
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// run movements
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for (int i=0;i<steps;i++)
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{
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@ -374,7 +374,7 @@ void Hippie::new_turn(int dir, float steps, int T){
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//delay(T);
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_moveServos(T/2, Pos_3);
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_moveServos(T/2, Pos_4);
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_moveServos(T/2, Pos_5);
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_moveServos(T/2, Pos_5);
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}
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}
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}
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@ -392,13 +392,13 @@ void Hippie::shakeLeg (int steps,int T,int dir){
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int numberLegMoves=4;
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//Parameters of all the movements. Default: Right leg
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int shake_leg1[4]={90, 90, 58, 35-15};
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int shake_leg1[4]={90, 90, 58, 35-15};
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int shake_leg2[4]={90, 90, 58, 120+30};
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int shake_leg3[4]={90, 90, 58, 60-30};
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int homes[4]={90, 90, 90, 90};
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//Changes in the parameters if left leg is chosen
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if(dir==-1)
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if(dir==-1)
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{
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shake_leg1[2]=180-35;
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shake_leg1[3]=180-58;
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@ -407,19 +407,19 @@ void Hippie::shakeLeg (int steps,int T,int dir){
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shake_leg3[2]=180-60;
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shake_leg3[3]=180-58;
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}
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//Time of the bend movement. Fixed parameter to avoid falls
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int T2=1000;
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//Time of one shake, constrained in order to avoid movements too fast.
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int T2=1000;
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//Time of one shake, constrained in order to avoid movements too fast.
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T=T-T2;
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T=max(T,200*numberLegMoves);
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T=max(T,200*numberLegMoves);
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for (int j=0; j<steps;j++)
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{
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//Bend movement
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_moveServos(T2/2,shake_leg1);
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_moveServos(T2/2,shake_leg2);
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//Shake movement
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for (int i=0;i<numberLegMoves;i++)
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{
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@ -428,7 +428,7 @@ void Hippie::shakeLeg (int steps,int T,int dir){
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}
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_moveServos(500,homes); //Return to home position
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}
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delay(T);
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}
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@ -438,7 +438,7 @@ void Hippie::shakeLeg (int steps,int T,int dir){
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//-- Parameters:
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//-- * steps: Number of jumps
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//-- * T: Period
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//-- * h: Jump height: SMALL / MEDIUM / BIG
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//-- * h: Jump height: SMALL / MEDIUM / BIG
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//-- (or a number in degrees 0 - 90)
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//---------------------------------------------------------
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void Hippie::updown(float steps, int T, int h){
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@ -450,9 +450,9 @@ void Hippie::updown(float steps, int T, int h){
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int A[4]= {0, 0, h, h};
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int O[4] = {0, 0, h, -h+50};
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double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(90)};
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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@ -470,9 +470,9 @@ void Hippie::swing(float steps, int T, int h){
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int A[4]= {0, 0, h, h};
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int O[4] = {0, 0, h/2-20, -h/2+50-20};
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double phase_diff[4] = {0, 0, DEG2RAD(0), DEG2RAD(0)};
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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@ -490,18 +490,18 @@ void Hippie::tiptoeSwing(float steps, int T, int h){
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int A[4]= {0, 0, h, h};
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int O[4] = {0, 0, h-20, -h+50};
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double phase_diff[4] = {0, 0, 0, 0};
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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//---------------------------------------------------------
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//-- Hippie gait: Jitter
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//-- Hippie gait: Jitter
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//-- Parameters:
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//-- steps: Number of jitters
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//-- T: Period of one jitter
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//-- h: height (Values between 5 - 25)
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//-- T: Period of one jitter
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//-- h: height (Values between 5 - 25)
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//---------------------------------------------------------
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void Hippie::jitter(float steps, int T, int h){
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@ -514,9 +514,9 @@ void Hippie::jitter(float steps, int T, int h){
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int A[4]= {h, h, 0, 0};
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int O[4] = {0, 0, 0, 0};
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double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), 0, 0};
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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@ -525,7 +525,7 @@ void Hippie::jitter(float steps, int T, int h){
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//-- Parameters:
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//-- steps: Number of bends
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//-- T: Period of one bend
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//-- h: height (Values between 5 - 15)
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//-- h: height (Values between 5 - 15)
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//---------------------------------------------------------
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void Hippie::ascendingTurn(float steps, int T, int h){
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@ -537,9 +537,9 @@ void Hippie::ascendingTurn(float steps, int T, int h){
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int A[4]= {h, h, h, h};
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int O[4] = {0, 0, h+4, -h+40};
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double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), DEG2RAD(-90), DEG2RAD(90)};
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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@ -562,14 +562,14 @@ void Hippie::moonwalker(float steps, int T, int h, int dir){
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//-- is 60 degrees.
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//-- Both amplitudes are equal. The offset is half the amplitud plus a little bit of
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//- offset so that the robot tiptoe lightly
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int A[4]= {0, 0, h, h};
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int O[4] = {0, 0, h/2+2, -h/2 -2+60};
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int phi = -dir * 90;
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double phase_diff[4] = {0, 0, DEG2RAD(phi), DEG2RAD(-60 * dir + phi)};
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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@ -586,9 +586,9 @@ void Hippie::crusaito(float steps, int T, int h, int dir){
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int A[4]= {25, 25, h, h};
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int O[4] = {0, 0, h/2+ 4, -h/2 - 4+30};
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double phase_diff[4] = {90, 90, DEG2RAD(0), DEG2RAD(-60 * dir)};
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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_execute(A, O, T, phase_diff, steps);
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}
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@ -605,8 +605,7 @@ void Hippie::flapping(float steps, int T, int h, int dir){
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int A[4]= {12+10, 12+10, h, h};
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int O[4] = {0, 0, h - 10, -h + 10+60};
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double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(-90 * dir), DEG2RAD(90 * dir)};
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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}
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//-- Let's oscillate the servos!
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_execute(A, O, T, phase_diff, steps);
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}
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27
Hippie.h
27
Hippie.h
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@ -1,14 +1,8 @@
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#ifndef Hippie_h
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#define Hippie_h
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#include <ESP32_Servo.h>
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#include <Oscillator.h>
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#include "Hippie_mouths.h"
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#include "Hippie_sounds.h"
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#include "Hippie_gestures.h"
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//-- Constants
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#define FORWARD 1
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#define BACKWARD -1
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@ -18,11 +12,6 @@
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#define MEDIUM 15
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#define BIG 30
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#define PIN_Buzzer 10
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#define PIN_Trigger 8
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#define PIN_Echo 9
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#define PIN_NoiseSensor A6
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class Hippie
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{
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@ -43,7 +32,7 @@ class Hippie
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void home();
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bool getRestState();
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void setRestState(bool state);
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//-- Predetermined Motion Functions
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void jump(float steps=1, int T = 600);
|
||||
|
||||
|
|
@ -61,15 +50,15 @@ class Hippie
|
|||
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=50, int dir=FORWARD);
|
||||
|
||||
void test_pos();
|
||||
|
||||
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);
|
||||
void new_turn(int dir = LEFT, float steps =2, int T=1000);
|
||||
|
||||
|
||||
|
||||
private:
|
||||
|
||||
|
||||
Oscillator servo[4];
|
||||
|
||||
int servo_pins[4];
|
||||
|
|
@ -77,7 +66,7 @@ class Hippie
|
|||
int servo_position[4];
|
||||
|
||||
int pinBuzzer;
|
||||
|
||||
|
||||
unsigned long final_time;
|
||||
unsigned long partial_time;
|
||||
float increment[4];
|
||||
|
|
@ -89,5 +78,3 @@ class Hippie
|
|||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -5,31 +5,31 @@
|
|||
//-- (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 "Arduino.h"
|
||||
#include "Oscillator.h"
|
||||
#include <ESP32_Servo.h>
|
||||
#if defined(ESP32)
|
||||
#include <ESP32_Servo.h>
|
||||
#else
|
||||
#include <Servo.h>
|
||||
#endif
|
||||
|
||||
//-- 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;
|
||||
_previousMillis = _currentMillis;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -39,9 +39,6 @@ bool Oscillator::next_sample()
|
|||
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);
|
||||
|
|
@ -64,8 +61,7 @@ void Oscillator::attach(int pin, bool rev)
|
|||
|
||||
//-- Reverse mode
|
||||
_rev = rev;
|
||||
//}
|
||||
|
||||
|
||||
}
|
||||
|
||||
//-- Detach an oscillator from his servo
|
||||
|
|
@ -84,7 +80,7 @@ void Oscillator::SetT(unsigned int T)
|
|||
{
|
||||
//-- Assign the new period
|
||||
_T=T;
|
||||
|
||||
|
||||
//-- Recalculate the parameters
|
||||
__N = _T/_TS;
|
||||
_inc = 2*M_PI/__N;
|
||||
|
|
@ -107,10 +103,10 @@ void Oscillator::SetPosition(int position)
|
|||
/*******************************************************************/
|
||||
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
|
||||
|
|
|
|||
28
Oscillator.h
28
Oscillator.h
|
|
@ -8,7 +8,11 @@
|
|||
#ifndef Oscillator_h
|
||||
#define Oscillator_h
|
||||
|
||||
#include <ESP32_Servo.h>
|
||||
#if defined(ESP32)
|
||||
#include <ESP32_Servo.h>
|
||||
#else
|
||||
#include <Servo.h>
|
||||
#endif
|
||||
|
||||
//-- Macro for converting from degrees to radians
|
||||
#ifndef DEG2RAD
|
||||
|
|
@ -21,32 +25,32 @@ class Oscillator
|
|||
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 SetPosition(int position);
|
||||
void Stop() {_stop=true;};
|
||||
void Play() {_stop=false;};
|
||||
void Reset() {_phase=0;};
|
||||
void refresh();
|
||||
|
||||
|
||||
private:
|
||||
bool next_sample();
|
||||
|
||||
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
|
||||
|
|
@ -54,10 +58,10 @@ class Oscillator
|
|||
double _inc; //-- Increment of phase
|
||||
double __N; //-- Number of samples
|
||||
unsigned int _TS; //-- sampling period (ms)
|
||||
|
||||
long _previousMillis;
|
||||
|
||||
long _previousMillis;
|
||||
long _currentMillis;
|
||||
|
||||
|
||||
//-- Oscillation mode. If true, the servo is stopped
|
||||
bool _stop;
|
||||
|
||||
|
|
@ -65,4 +69,4 @@ class Oscillator
|
|||
bool _rev;
|
||||
};
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue