79 lines
2.0 KiB
C++
79 lines
2.0 KiB
C++
#ifndef Hippie_h
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#define Hippie_h
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#include <Oscillator.h>
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//-- Constants
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#define FORWARD 1
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#define BACKWARD -1
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#define LEFT 1
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#define RIGHT -1
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#define SMALL 5
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#define MEDIUM 15
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#define BIG 30
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class Hippie
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{
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public:
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//-- Hippie initialisation
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void init(int YL, int YR, int RL, int RR);
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void init_with_trim(int YL, int YR, int RL, int RR, int OYL, int OYR, int ORL, int ORR);
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//-- Attach & detach functions
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void attachServos();
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void detachServos();
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//-- General Purpose Motion Functions
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void _moveServos(int time, int servo_target[]);
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void oscillateServos(int A[4], int O[4], int T, double phase_diff[4], float cycle);
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//-- HOME = Hippie at rest position
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void home();
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bool getRestState();
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void setRestState(bool state);
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//-- Motion Functions
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void jump(float steps=1, int T = 600);
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void walk(float steps=4, int T=1000, int dir = FORWARD);
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void turn(float steps=4, int T=1000, int dir = LEFT);
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void bend (int steps=1, int T=1400, int dir=LEFT);
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void shakeLeg (int steps=1, int T = 2000, int dir=RIGHT);
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void updown(float steps=1, int T=1000, int h = 40);
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void swing(float steps=1, int T=1000, int h=40);
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void tiptoeSwing(float steps=1, int T=900, int h=40);
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void jitter(float steps=1, int T=500, int h=50);
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void ascendingTurn(float steps=1, int T=900, int h=50);
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void moonwalker(float steps=1, int T=900, int h=50, int dir=LEFT);
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void crusaito(float steps=1, int T=900, int h=20, int dir=FORWARD);
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void flapping(float steps=1, int T=1000, int h=50, int dir=FORWARD);
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void test_pos();
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void new_walk(float steps =4, int T=750, int dir = FORWARD);
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void new_turn(float steps =2, int T=1000, int dir = LEFT);
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private:
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Oscillator servo[4];
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int servo_pins[4];
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int servo_trim[4];
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int servo_position[4];
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unsigned long final_time;
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unsigned long partial_time;
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float increment[4];
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bool isHippieResting;
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void _execute(int A[4], int O[4], int T, double phase_diff[4], float steps);
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};
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#endif
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