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Cleanup example code

master
Lukas Bachschwell 2 years ago
parent
commit
2bb5001fe4
2 changed files with 145 additions and 36 deletions
  1. +20
    -2
      examples/BasicMoves/BasicMoves.ino
  2. +125
    -34
      examples/WebInterface/WebInterface.ino

+ 20
- 2
examples/BasicMoves/BasicMoves.ino View File

@@ -1,7 +1,7 @@
// Example of the LARS Movement library
#include <LARS.h>

LARS robot; // using default ESP32 pinning values for constructor
LARS robot;

boolean walk_forward = false;
boolean walk_backward = false;
@@ -19,7 +19,25 @@ boolean PushUp = false;
void setup() {
Serial.begin(115200);

robot.init();
/*
How to wire:

init(FRH, FLH, BRH, BLH, FRL, FLL, BRL, BLL)

Leg Hip Face Hip Leg
__________ __________ _________________
|(FLL)_____)(FLH) (FRH)(______(FRL)|
|__| |left FRONT right| |__|
| |
| |
| |
_________ | | __________
|(BLL)_____)(BLH)______(BRH)(______(BRL)|
|__| |__|

*/

robot.init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
delay(500);
}



+ 125
- 34
examples/WebInterface/WebInterface.ino View File

@@ -1,9 +1,23 @@
// Example of the LARS Movement library using the ESPUI Webinferface by Lukas Bachschwell
// Example of the LARS Movement library using the ESPUI Webinferface and the SimleExpressions Library by Lukas Bachschwell
#include <SimpleExpressions.h>
#include <WiFi.h>
#include <ESPUI.h>
#include <LARS.h>

LARS robot; // using default ESP32 pinning values for constructor
#define ledDataPin 27 // cannot use
#define beeperPin 17 // cannot use

#define echoPin 5 // cannot use
#define triggerPin 23 //cannot use

#define checkTime 1000
#define warningDistance 20
long oldTime = 0;
bool warning = false;

const char* ssid = "Lars";

LARS robot;

boolean walk_forward = false;
boolean walk_backward = false;
@@ -21,8 +35,8 @@ boolean PushUp = false;
void setup() {
Serial.begin(115200);
WiFi.mode(WIFI_AP);
WiFi.setHostname("Lars");
WiFi.softAP("Lars");
WiFi.setHostname(ssid);
WiFi.softAP(ssid);
Serial.println("");
Serial.print("IP address: ");
Serial.println(WiFi.softAPIP());
@@ -40,25 +54,73 @@ void setup() {

ESPUI.begin("Crabby Control");

robot.init();
SimpleExpressions.init(ledDataPin, beeperPin);
SimpleExpressions.clearMouth();

SimpleExpressions.writeMouth("happySmall", 0, 0, 80);
SimpleExpressions.playSound(S_SUPER_HAPPY);
SimpleExpressions.writeMouth("happyFull", 0, 60, 100);



/*
How to wire:

init(FRH, FLH, BRH, BLH, FRL, FLL, BRL, BLL)

Leg Hip Face Hip Leg
__________ __________ _________________
|(FLL)_____)(FLH) (FRH)(______(FRL)|
|__| |left FRONT right| |__|
| |
| |
| |
_________ | | __________
|(BLL)_____)(BLH)______(BRH)(______(BRL)|
|__| |__|

*/

robot.init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
delay(1000);
}

void loop() {
if (millis() - oldTime > checkTime) {
checkDistance();
oldTime = millis();
}
if (walk_forward) robot.walk(0);
else if (walk_backward) robot.walk();
else if (hello) robot.hello();
else if (turn_left) robot.turnL(1, 550);
else if (turn_right) robot.turnR(1, 550);
else if (moonwalk) robot.moonwalk(1, 5000);
else if (audience) robot.wave(1);
else if (dance) robot.dance(1, 600);
else if (omni) robot.omniWalk(1, 600, true, 1);
else if (omni_left) robot.omniWalk(1, 600, false, 1);
else if (PushUp) robot.pushUp(1, 600);
else if (upDown) robot.upDown(1, 5000);
else robot.home();

}

// UI Callbacks

void audienceWaveButton(Control c, int type) {
if (type == B_DOWN) {
audience = true;
}
else {
} else {
audience = false;
}
}


void moonWalkButton(Control c, int type) {
if (type == B_DOWN) {
moonwalk = true;
}
else {
} else {
moonwalk = false;
}
}
@@ -66,32 +128,31 @@ void moonWalkButton(Control c, int type) {
void danceButton(Control c, int type) {
if (type == B_DOWN) {
dance = true;
}
else {
} else {
dance = false;
}
}

void pushUpButton(Control c, int type) {
if (type == B_DOWN) {
PushUp = true;
}
else {
} else {
PushUp = false;
}
}

void upDownButton(Control c, int type) {
if (type == B_DOWN) {
upDown = true;
}
else {
} else {
upDown = false;
}
}

void slowTurnRight(Control c, int type) {
if (type == B_DOWN) {
omni = true;
}
else {
} else {
omni = false;
}
}
@@ -99,8 +160,7 @@ void slowTurnRight(Control c, int type) {
void slowTurnLeft(Control c, int type) {
if (type == B_DOWN) {
omni_left = true;
}
else {
} else {
omni_left = false;
}
}
@@ -157,20 +217,51 @@ void wavePad(Control c, int value) {
}
}

void loop() {
// Ultrasonic Sensor

void checkDistance() {
int d = distance(triggerPin, echoPin);
ESPUI.print("Distance", String(d));
if (d < warningDistance) {
delay(100);
d = distance(triggerPin, echoPin);
if (d < warningDistance) {
if(!warning) {
SimpleExpressions.writeMouth("sadFull", 100, 0, 0);
SimpleExpressions.writeMouth("sadFull", 100, 0, 0); // only twice please
}
SimpleExpressions.playSound(S_CONFUSED);
warning = true;
}
} else {
if (warning) {
SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
SimpleExpressions.writeMouth("happyFull", 0, 60, 100); // only twice please
warning = false;
}
}
}


if (walk_forward) robot.walk(0);
else if (walk_backward) robot.walk();
else if (hello) robot.hello();
else if (turn_left) robot.turnL(1, 550);
else if (turn_right) robot.turnR(1, 550);
else if (moonwalk) robot.moonwalk(1, 5000);
else if (audience) robot.wave(1);
else if (dance) robot.dance(1, 600);
else if (omni) robot.omniWalk(1, 600, true, 1);
else if (omni_left) robot.omniWalk(1, 600, false, 1);
else if (PushUp) robot.pushUp(1, 600);
else if (upDown) robot.upDown(1, 5000);
else robot.home();

long US_init(int trigger_pin, int echo_pin)
{
digitalWrite(trigger_pin, LOW);
delayMicroseconds(2);
digitalWrite(trigger_pin, HIGH);
delayMicroseconds(10);
digitalWrite(trigger_pin, LOW);

return pulseIn(echo_pin, HIGH, 100000);
}

long distance(int trigger_pin, int echo_pin)
{
long microseconds = US_init(trigger_pin, echo_pin);
long distance;
distance = microseconds / 29 / 2;
if (distance == 0) {
distance = 999;
}
return distance;
}

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