This commit is contained in:
Lukas Bachschwell 2017-12-03 22:04:39 +01:00
parent 16d38c6435
commit 7efec87cee
4 changed files with 107 additions and 121 deletions

View File

@ -6,7 +6,7 @@
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;
@ -15,11 +15,11 @@ void Hippie::init(int YL, int YR, int RL, int RR, int Buzzer) {
attachServos();
isHippieResting=false;
for (int i = 0; i < 4; i++) servo_position[i] = 90;
//Buzzer & noise sensor pins:
//Buzzer & noise sensor pins:
pinBuzzer = Buzzer;
pinMode(Buzzer,OUTPUT);
@ -95,14 +95,14 @@ void Hippie::_execute(int A[4], int O[4], int T, double phase_diff[4], float ste
}
int cycles=(int)steps;
int cycles=(int)steps;
//-- Execute complete cycles
if (cycles >= 1)
for(int i = 0; i < cycles; i++)
if (cycles >= 1)
for(int i = 0; i < cycles; i++)
oscillateServos(A,O, T, phase_diff);
//-- Execute the final not complete cycle
//-- Execute the final not complete cycle
oscillateServos(A,O, T, phase_diff,(float)steps-cycles);
}
@ -156,15 +156,15 @@ void Hippie::jump(float steps, int T){
//-- 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)
//-- Hippie gait: Walking (forward or backward)
//-- Parameters:
//-- * steps: Number of steps
//-- * T : Period
@ -182,11 +182,11 @@ void Hippie::walk(float steps, int T, int dir){
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);
_execute(A, O, T, phase_diff, steps);
}
@ -202,13 +202,13 @@ 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
//-- 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, 30};
double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)};
if (dir == LEFT) {
double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(-90)};
if (dir == LEFT) {
A[0] = 50; //-- Left hip servo
A[1] = 10; //-- Right hip servo
}
@ -217,9 +217,9 @@ void Hippie::turn(float steps, int T, int dir){
A[1] = 50;
A[2] = 40;
}
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
_execute(A, O, T, phase_diff, steps);
}
@ -233,14 +233,14 @@ void Hippie::turn(float steps, int T, int dir){
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 bend1[4]={90, 90, 62, 35};
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.
//T=max(T, 600);
//Changes in the parameters if right direction is chosen
//Changes in the parameters if right direction is chosen
if(dir==-1)
{
bend1[2]=180-35;
@ -250,7 +250,7 @@ void Hippie::bend (int steps, int T, int dir){
}
//Time of the bend movement. Fixed parameter to avoid falls
int T2=800;
int T2=800;
//Bend movement
for (int i=0;i<steps;i++)
@ -276,11 +276,11 @@ void Hippie::new_walk(int dir, float steps, int T){
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<steps;i++)
{
@ -293,23 +293,23 @@ void Hippie::new_walk(int dir, float steps, int T){
_moveServos(T/2, Pos_E);
_moveServos(T/2, Pos_F);
_moveServos(T/2, Pos_G);
//delay(T*3);
}
}
//Backwards
if (dir == 2){
int Pos_1[4] = {90,90,180, 90};
int Pos_2[4] = {90,90,180, 180};
int Pos_3[4] = {90,145,90, 180};
int Pos_4[4] = {145,145,90,90};
int Pos_5[4] = {145,145,30,30};
int Pos_6[4] = {45,45,30,90};
int Pos_7[4] = {45,45,90,90};
int Pos_7[4] = {45,45,90,90};
// run movements
for (int i=0;i<steps;i++)
{
@ -322,11 +322,11 @@ void Hippie::new_walk(int dir, float steps, int T){
_moveServos(T/2, Pos_5);
_moveServos(T/2, Pos_6);
_moveServos(T/2, Pos_7);
//delay(T*3);
}
}
}
}
//--------------------------------------------------------
@ -344,7 +344,7 @@ void Hippie::new_turn(int dir, float steps, int T){
int Pos_C[4] = {0,90,30,90};
int Pos_D[4] = {0,90,90,90};
int Pos_E[4] = {90,90,90,90};
// run movements
for (int i=0;i<steps;i++)
{
@ -353,10 +353,10 @@ void Hippie::new_turn(int dir, float steps, int T){
//delay(T);
_moveServos(T/2, Pos_C);
_moveServos(T/2, Pos_D);
_moveServos(T/2, Pos_E);
_moveServos(T/2, Pos_E);
}
}
//RIGHT
if (dir==2) {
// Positions of turning
@ -365,7 +365,7 @@ void Hippie::new_turn(int dir, float steps, int T){
int Pos_3[4] = {90,180,90, 180};
int Pos_4[4] = {90,180,90,90};
int Pos_5[4] = {90,90,90,90};
// run movements
for (int i=0;i<steps;i++)
{
@ -374,7 +374,7 @@ void Hippie::new_turn(int dir, float steps, int T){
//delay(T);
_moveServos(T/2, Pos_3);
_moveServos(T/2, Pos_4);
_moveServos(T/2, Pos_5);
_moveServos(T/2, Pos_5);
}
}
}
@ -392,13 +392,13 @@ void Hippie::shakeLeg (int steps,int T,int dir){
int numberLegMoves=4;
//Parameters of all the movements. Default: Right leg
int shake_leg1[4]={90, 90, 58, 35-15};
int shake_leg1[4]={90, 90, 58, 35-15};
int shake_leg2[4]={90, 90, 58, 120+30};
int shake_leg3[4]={90, 90, 58, 60-30};
int homes[4]={90, 90, 90, 90};
//Changes in the parameters if left leg is chosen
if(dir==-1)
if(dir==-1)
{
shake_leg1[2]=180-35;
shake_leg1[3]=180-58;
@ -407,19 +407,19 @@ void Hippie::shakeLeg (int steps,int T,int dir){
shake_leg3[2]=180-60;
shake_leg3[3]=180-58;
}
//Time of the bend movement. Fixed parameter to avoid falls
int T2=1000;
//Time of one shake, constrained in order to avoid movements too fast.
int T2=1000;
//Time of one shake, constrained in order to avoid movements too fast.
T=T-T2;
T=max(T,200*numberLegMoves);
T=max(T,200*numberLegMoves);
for (int j=0; j<steps;j++)
{
//Bend movement
_moveServos(T2/2,shake_leg1);
_moveServos(T2/2,shake_leg2);
//Shake movement
for (int i=0;i<numberLegMoves;i++)
{
@ -428,7 +428,7 @@ void Hippie::shakeLeg (int steps,int T,int dir){
}
_moveServos(500,homes); //Return to home position
}
delay(T);
}
@ -438,7 +438,7 @@ void Hippie::shakeLeg (int steps,int T,int dir){
//-- Parameters:
//-- * steps: Number of jumps
//-- * T: Period
//-- * h: Jump height: SMALL / MEDIUM / BIG
//-- * h: Jump height: SMALL / MEDIUM / BIG
//-- (or a number in degrees 0 - 90)
//---------------------------------------------------------
void Hippie::updown(float steps, int T, int h){
@ -450,9 +450,9 @@ void Hippie::updown(float steps, int T, int h){
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h, -h+50};
double phase_diff[4] = {0, 0, DEG2RAD(-90), DEG2RAD(90)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
_execute(A, O, T, phase_diff, steps);
}
@ -470,9 +470,9 @@ void Hippie::swing(float steps, int T, int h){
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h/2-20, -h/2+50-20};
double phase_diff[4] = {0, 0, DEG2RAD(0), DEG2RAD(0)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
_execute(A, O, T, phase_diff, steps);
}
@ -490,18 +490,18 @@ void Hippie::tiptoeSwing(float steps, int T, int h){
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h-20, -h+50};
double phase_diff[4] = {0, 0, 0, 0};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
_execute(A, O, T, phase_diff, steps);
}
//---------------------------------------------------------
//-- Hippie gait: Jitter
//-- Hippie gait: Jitter
//-- Parameters:
//-- steps: Number of jitters
//-- T: Period of one jitter
//-- h: height (Values between 5 - 25)
//-- T: Period of one jitter
//-- h: height (Values between 5 - 25)
//---------------------------------------------------------
void Hippie::jitter(float steps, int T, int h){
@ -514,9 +514,9 @@ void Hippie::jitter(float steps, int T, int h){
int A[4]= {h, h, 0, 0};
int O[4] = {0, 0, 0, 0};
double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), 0, 0};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
_execute(A, O, T, phase_diff, steps);
}
@ -525,7 +525,7 @@ void Hippie::jitter(float steps, int T, int h){
//-- Parameters:
//-- steps: Number of bends
//-- T: Period of one bend
//-- h: height (Values between 5 - 15)
//-- h: height (Values between 5 - 15)
//---------------------------------------------------------
void Hippie::ascendingTurn(float steps, int T, int h){
@ -537,9 +537,9 @@ void Hippie::ascendingTurn(float steps, int T, int h){
int A[4]= {h, h, h, h};
int O[4] = {0, 0, h+4, -h+40};
double phase_diff[4] = {DEG2RAD(-90), DEG2RAD(90), DEG2RAD(-90), DEG2RAD(90)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
_execute(A, O, T, phase_diff, steps);
}
@ -562,14 +562,14 @@ void Hippie::moonwalker(float steps, int T, int h, int dir){
//-- is 60 degrees.
//-- Both amplitudes are equal. The offset is half the amplitud plus a little bit of
//- offset so that the robot tiptoe lightly
int A[4]= {0, 0, h, h};
int O[4] = {0, 0, h/2+2, -h/2 -2+60};
int phi = -dir * 90;
double phase_diff[4] = {0, 0, DEG2RAD(phi), DEG2RAD(-60 * dir + phi)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
_execute(A, O, T, phase_diff, steps);
}
@ -586,9 +586,9 @@ void Hippie::crusaito(float steps, int T, int h, int dir){
int A[4]= {25, 25, h, h};
int O[4] = {0, 0, h/2+ 4, -h/2 - 4+30};
double phase_diff[4] = {90, 90, DEG2RAD(0), DEG2RAD(-60 * dir)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
_execute(A, O, T, phase_diff, steps);
}
@ -605,8 +605,7 @@ void Hippie::flapping(float steps, int T, int h, int dir){
int A[4]= {12+10, 12+10, h, h};
int O[4] = {0, 0, h - 10, -h + 10+60};
double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(-90 * dir), DEG2RAD(90 * dir)};
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}
//-- Let's oscillate the servos!
_execute(A, O, T, phase_diff, steps);
}

View File

@ -1,14 +1,8 @@
#ifndef Hippie_h
#define Hippie_h
#include <ESP32_Servo.h>
#include <Oscillator.h>
#include "Hippie_mouths.h"
#include "Hippie_sounds.h"
#include "Hippie_gestures.h"
//-- Constants
#define FORWARD 1
#define BACKWARD -1
@ -18,11 +12,6 @@
#define MEDIUM 15
#define BIG 30
#define PIN_Buzzer 10
#define PIN_Trigger 8
#define PIN_Echo 9
#define PIN_NoiseSensor A6
class Hippie
{
@ -43,7 +32,7 @@ class Hippie
void home();
bool getRestState();
void setRestState(bool state);
//-- Predetermined Motion Functions
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

View File

@ -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

View File

@ -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