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Lars H 2017-12-02 13:23:56 +01:00
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commit bcdb8dd7dd
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/**************************************************************************************
* *
* 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();
}