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Basic examples and removing buzzerpin

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This commit is contained in:
Lukas Bachschwell 2017-12-11 23:35:47 +01:00
parent 4d10274109
commit a20c5ad65a
6 changed files with 274 additions and 267 deletions
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58
examples/BasicMoves/BasicMoves.ino Normal file
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@ -0,0 +1,58 @@
// This examples shows the Hippie Library used toghether with ESPUI Library by Lukas Bachschwelll on the ESP32
#include <Hippie.h>
#include <Oscillator.h>
const char* ssid = "Hippie";
Hippie hippie;
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);
/*
This function is used to config Hippie, it has the following parameters
- (int) pin of the upper left servo
- (int) pin of the upper right servo
- (int) pin of the lower left servo
- (int) pin of the lower right servo
*/
hippie.init(25, 13, 26, 16);
}
void loop()
{
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();
}

255
examples/Hippie/Hippie.ino
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@ -1,255 +0,0 @@
/**************************************************************************************
* *
* 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 <Hippie.h> //Libreria Hippie, disponible en el repositorio de GitHub de Hippie
#include <ESP32_Servo.h>
#include <Oscillator.h> //Librera ArduSnake de Obijuan, en GitHub
#include <EEPROM.h>
#include <WiFi.h>
#include <ESPUI.h>
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();
}

212
examples/Webinterface/Webinterface.ino Normal file
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@ -0,0 +1,212 @@
// This examples shows the Hippie Library used toghether with ESPUI Library by Lukas Bachschwelll on the ESP32
#include <WiFi.h>
#include <ESPUI.h>
#include <Hippie.h>
#include <Oscillator.h>
const char* ssid = "Hippie";
Hippie hippie;
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);
Serial.println("");
Serial.print("IP address: ");
Serial.println(WiFi.softAPIP());
ESPUI.pad("Move", true, &buttonPad, COLOR_CARROT);
ESPUI.button("TT Swing", &ttSwingButton, COLOR_PETERRIVER);
ESPUI.button("Swing", &swingButton, COLOR_PETERRIVER);
ESPUI.button("Angry", &angryButton, COLOR_PETERRIVER);
ESPUI.button("Jitter", &jitterButton, COLOR_PETERRIVER);
ESPUI.button("Shake", &shakeButton, COLOR_PETERRIVER);
ESPUI.button("Bend", &bendButton, COLOR_PETERRIVER);
ESPUI.button("Flap", &flapButton, COLOR_PETERRIVER);
ESPUI.button("Moonwalk Left", &moonLeftButton, COLOR_PETERRIVER);
ESPUI.button("Cruisato", &cruisatoButton, COLOR_PETERRIVER);
ESPUI.button("Moonwalk Right", &moonRightButton, COLOR_PETERRIVER);
ESPUI.begin("Hippie Control Demo");
/*
This function is used to config Hippie, it has the following parameters
- (int) pin of the upper left servo
- (int) pin of the upper right servo
- (int) pin of the lower left servo
- (int) pin of the lower right servo
*/
hippie.init(25, 13, 26, 16);
}
void ttSwingButton(Control c, int type) {
if (type == B_DOWN) {
tt_swing = true;
}
else {
tt_swing = false;
}
}
void swingButton(Control c, int type) {
if (type == B_DOWN) {
swing = true;
}
else {
swing = false;
}
}
void angryButton(Control c, int type) {
if (type == B_DOWN) {
jump = true;
}
else {
jump = false;
}
}
void jitterButton(Control c, int type) {
if (type == B_DOWN) {
jitter = true;
}
else {
jitter = false;
}
}
void shakeButton(Control c, int type) {
if (type == B_DOWN) {
shake = true;
}
else {
shake = false;
}
}
void bendButton(Control c, int type) {
if (type == B_DOWN) {
bend = true;
}
else {
bend = false;
}
}
void flapButton(Control c, int type) {
if (type == B_DOWN) {
flap = true;
}
else {
flap = false;
}
}
void moonLeftButton(Control c, int type) {
if (type == B_DOWN) {
moon = true;
}
else {
moon = false;
}
}
void cruisatoButton(Control c, int type) {
if (type == B_DOWN) {
cruise = true;
}
else {
cruise = false;
}
}
void moonRightButton(Control c, int type) {
if (type == B_DOWN) {
moon_r = true;
}
else {
moon_r = false;
}
}
void buttonPad (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()
{
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();
}

4
library.properties
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@ -2,8 +2,8 @@ name=HIPPIE
version=1.0.0
author=Lars Hinrichs, Anja Stene, Lukas Bachschwell
maintainer=Lukas Bachschwell <lukas@lbsfilm.at>
sentence=ESP32 Movement library for a 4 servo hippless 2 feet robot
sentence=ESP32 Movement library for a 4 servo hippless 2 feet robot
paragraph=A library that creates simple commands for complex robotic movements of a 4 servo hippless 2 feet robot when using the ESP32
category=Signal Input/Output
url=https://github.com/s00500/HIPPIE
architectures=ESP32
architectures=*

8
src/Hippie.cpp
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@ -5,7 +5,7 @@
void Hippie::init(int YL, int YR, int RL, int RR, int Buzzer) {
void Hippie::init(int YL, int YR, int RL, int RR) {
servo_pins[0] = YL;
servo_pins[1] = YR;
@ -17,12 +17,6 @@ void Hippie::init(int YL, int YR, int RL, int RR, int Buzzer) {
for (int i = 0; i < 4; i++) servo_position[i] = 90;
//Buzzer & noise sensor pins:
pinBuzzer = Buzzer;
pinMode(Buzzer,OUTPUT);
}
///////////////////////////////////////////////////////////////////

4
src/Hippie.h
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@ -18,7 +18,7 @@ class Hippie
public:
//-- Hippie initialisation
void init(int YL, int YR, int RL, int RR, int Buzzer=PIN_Buzzer);
void init(int YL, int YR, int RL, int RR);
//-- Attach & detach functions
void attachServos();
@ -65,8 +65,6 @@ class Hippie
int servo_trim[4];
int servo_position[4];
int pinBuzzer;
unsigned long final_time;
unsigned long partial_time;
float increment[4];