60 lines
1.5 KiB
C++
60 lines
1.5 KiB
C++
#ifndef LARS_h
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#define LARS_h
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#include <ESP32_Servo.h>
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#include "Octosnake.h"
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// servo index to board_pins
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#define debug 0
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#define FRONT_RIGHT_HIP 0
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#define FRONT_LEFT_HIP 1
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#define FRONT_RIGHT_LEG 2
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#define FRONT_LEFT_LEG 3
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#define BACK_RIGHT_HIP 4
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#define BACK_LEFT_HIP 5
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#define BACK_RIGHT_LEG 6
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#define BACK_LEFT_LEG 7
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class LARS {
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public:
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LARS();
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void init();
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void walk(int dir = 1, float steps = 1, float T = 400);
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void omniWalk(float steps, float T, bool side, float turn_factor);
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void turnL(float steps, float period);
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void turnR(float steps, float period);
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void moonwalkL(float steps, float period);
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void dance(float steps, float period);
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void upDown(float steps, float period);
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void pushUp(float steps, float period);
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void hello();
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void home();
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void wave(int legNumber);
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void setServo(int id, float target);
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void reverseServo(int id);
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float getServo(int id);
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void moveServos(int time, float target[8]);
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private:
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Oscillator oscillator[8];
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Servo servo[8];
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int board_pins[8];
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int trim[8]; //deviation servo offset
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bool reverse[8];
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unsigned long _init_time;
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unsigned long _final_time;
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unsigned long _partial_time;
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float _increment[8];
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float _servo_position[8];
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void execute(float steps, float period[8], int amplitude[8], int offset[8], int phase[8]);
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inline int angToUsec(float value) {
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return value / 180 * (MAX_PULSE_WIDTH - MIN_PULSE_WIDTH) + MIN_PULSE_WIDTH;
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};
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};
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#endif
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