43 lines
1.0 KiB
C++
43 lines
1.0 KiB
C++
// 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();
|
|
|
|
}
|