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Merge and clean up

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Lukas Bachschwell
2017-12-12 12:11:09 +01:00
parent 2cb7977856 84f01d277b
commit afaba02132
14 changed files with 878 additions and 356 deletions
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18
src/LARS.cpp
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@ -16,15 +16,15 @@
*/
LARS::LARS(): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
board_pins[FRONT_RIGHT_HIP] = 26; // front right inner
board_pins[FRONT_LEFT_HIP] = 25; // front left inner
board_pins[BACK_RIGHT_HIP] = 17; // back right inner
board_pins[BACK_LEFT_HIP] = 16; // back left inner
board_pins[FRONT_RIGHT_LEG] = 27; // front right outer
board_pins[FRONT_LEFT_LEG] = 5; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
board_pins[BACK_RIGHT_LEG] = 23; // back right outer
board_pins[BACK_LEFT_LEG] = 13; // back left outer
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} {
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
board_pins[BACK_LEFT_HIP] = BLH; // back left inner
board_pins[FRONT_RIGHT_LEG] = FRL; // front right outer
board_pins[FRONT_LEFT_LEG] = FLL; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
board_pins[BACK_RIGHT_LEG] = BRL; // back right outer
board_pins[BACK_LEFT_LEG] = BLL; // back left outer
}
void LARS::init() {

3
src/LARS.h
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@ -26,7 +26,8 @@ class LARS {
public:
LARS();
void init();
void walk(int dir = 0, float steps = 1, float T = 800); // T initial 400
void init(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL);
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);
void turnL(float steps, float period);
void turnR(float steps, float period);