2017-12-12 13:30:03 +00:00
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// Example of the LARS Movement library
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#include <LARS.h>
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2017-12-12 20:19:24 +00:00
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LARS robot;
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2017-12-12 13:30:03 +00:00
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boolean walk_forward = false;
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boolean walk_backward = false;
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boolean hello = false;
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boolean turn_left = false;
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boolean turn_right = false;
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boolean moonwalk = false;
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boolean audience = false;
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boolean omni = false;
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boolean omni_left = false;
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boolean dance = false;
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boolean upDown = false;
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boolean PushUp = false;
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void setup() {
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Serial.begin(115200);
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2017-12-12 20:19:24 +00:00
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/*
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How to wire:
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init(FRH, FLH, BRH, BLH, FRL, FLL, BRL, BLL)
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Leg Hip Face Hip Leg
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__________ __________ _________________
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|(FLL)_____)(FLH) (FRH)(______(FRL)|
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|__| |left FRONT right| |__|
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_________ | | __________
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|(BLL)_____)(BLH)______(BRH)(______(BRL)|
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|__| |__|
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*/
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robot.init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
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2017-12-12 13:30:03 +00:00
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delay(500);
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}
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void loop() {
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if (walk_forward) robot.walk(0);
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else if (walk_backward) robot.walk();
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else if (hello) robot.hello();
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else if (turn_left) robot.turnL(1, 550);
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else if (turn_right) robot.turnR(1, 550);
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else if (moonwalk) robot.moonwalk(1, 5000);
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else if (audience) robot.wave(1);
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else if (dance) robot.dance(1, 600);
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else if (omni) robot.omniWalk(1, 600, true, 1);
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else if (omni_left) robot.omniWalk(1, 600, false, 1);
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else if (PushUp) robot.pushUp(1, 600);
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else if (upDown) robot.upDown(1, 5000);
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else robot.home();
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}
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