Adding proper examples

examples/BasicMoves/BasicMoves.ino

@@ -0,0 +1,42 @@
+// Example of the LARS Movement library
+#include <LARS.h>
+
+LARS robot; // using default ESP32 pinning values for constructor
+
+boolean walk_forward = false;
+boolean walk_backward = false;
+boolean hello = false;
+boolean turn_left = false;
+boolean turn_right = false;
+boolean moonwalk = false;
+boolean audience = false;
+boolean omni = false;
+boolean omni_left = false;
+boolean dance = false;
+boolean upDown = false;
+boolean PushUp = false;
+
+void setup() {
+  Serial.begin(115200);
+
+  robot.init();
+  delay(500);
+}
+
+void loop() {
+
+  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();
+
+}

examples/WebInterface/WebInterface.ino

@@ -0,0 +1,176 @@
+// Example of the LARS Movement library using the ESPUI Webinferface by Lukas Bachschwell
+#include <WiFi.h>
+#include <ESPUI.h>
+#include <LARS.h>
+
+LARS robot; // using default ESP32 pinning values for constructor
+
+boolean walk_forward = false;
+boolean walk_backward = false;
+boolean hello = false;
+boolean turn_left = false;
+boolean turn_right = false;
+boolean moonwalk = false;
+boolean audience = false;
+boolean omni = false;
+boolean omni_left = false;
+boolean dance = false;
+boolean upDown = false;
+boolean PushUp = false;
+
+void setup() {
+  Serial.begin(115200);
+  WiFi.mode(WIFI_AP);
+  WiFi.setHostname("Lars");
+  WiFi.softAP("Lars");
+  Serial.println("");
+  Serial.print("IP address: ");
+  Serial.println(WiFi.softAPIP());
+
+
+  ESPUI.pad("Walking Control", true, &walkingPad, COLOR_CARROT);
+  ESPUI.pad("Wave some legs", false, &wavePad, COLOR_CARROT);
+  ESPUI.button("Wave  Button", &audienceWaveButton, COLOR_PETERRIVER);
+  ESPUI.button("MoonWalk  Button", &moonWalkButton, COLOR_PETERRIVER);
+  ESPUI.button("Dance  Button", &danceButton, COLOR_PETERRIVER);
+  ESPUI.button("PushUp  Button", &pushUpButton, COLOR_PETERRIVER);
+  ESPUI.button("upDown  Button", &upDownButton, COLOR_PETERRIVER);
+  ESPUI.button("Slow Turn Right", &slowTurnRight, COLOR_PETERRIVER);
+  ESPUI.button("Slow Turn left", &slowTurnLeft, COLOR_PETERRIVER);
+
+  ESPUI.begin("Crabby Control");
+
+  robot.init();
+  delay(1000);
+}
+
+void audienceWaveButton(Control c, int type) {
+  if (type == B_DOWN) {
+    audience = true;
+  }
+  else {
+    audience = false;
+  }
+}
+
+
+void moonWalkButton(Control c, int type) {
+  if (type == B_DOWN) {
+    moonwalk = true;
+  }
+  else {
+    moonwalk = false;
+  }
+}
+
+void danceButton(Control c, int type) {
+  if (type == B_DOWN) {
+    dance = true;
+  }
+  else {
+    dance = false;
+  }
+}
+void pushUpButton(Control c, int type) {
+  if (type == B_DOWN) {
+    PushUp = true;
+  }
+  else {
+    PushUp = false;
+  }
+}
+void upDownButton(Control c, int type) {
+  if (type == B_DOWN) {
+    upDown = true;
+  }
+  else {
+    upDown = false;
+  }
+}
+void slowTurnRight(Control c, int type) {
+  if (type == B_DOWN) {
+    omni = true;
+  }
+  else {
+    omni = false;
+  }
+}
+
+void slowTurnLeft(Control c, int type) {
+  if (type == B_DOWN) {
+    omni_left = true;
+  }
+  else {
+    omni_left = false;
+  }
+}
+
+void walkingPad(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:
+      hello = true;
+      break;
+    case P_CENTER_UP:
+      hello = false;
+      break;
+  }
+}
+
+void wavePad(Control c, int value) {
+  switch (value) {
+    case P_LEFT_DOWN:
+      robot.wave(1);
+      break;
+    case P_RIGHT_DOWN:
+      robot.wave(2);
+      break;
+    case P_FOR_DOWN:
+      robot.wave(3);
+      break;
+    case P_BACK_DOWN:
+      robot.wave(4);
+      break;
+  }
+}
+
+void loop() {
+
+  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();
+
+}

src/LARS.cpp

@@ -16,7 +16,7 @@
 */
 
 
-LARS::LARS(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
+LARS::LARS(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
   board_pins[FRONT_RIGHT_HIP] = FRH; // front right inner
 	board_pins[FRONT_LEFT_HIP] = FLH; // front left inner
 	board_pins[BACK_RIGHT_HIP] = BRH; // back right inner

src/LARS.h

@@ -24,7 +24,7 @@
 class LARS {
 
   public:
-    LARS(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL);
+    LARS(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13);
     void init();
     void walk(int dir = 1, float steps = 1, float T = 800); // T initial 400
     void omniWalk(float steps, float T, bool side, float turn_factor);