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CSpider.cpp
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892 lines (796 loc) · 27.1 KB
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/*
* CSpider.cpp
*
* Created on: 2014/7/26
* Author: Richard
*/
#include "terasic_os.h"
#include <stdint.h>
#include <stdio.h>
#include "CSpider.h"
#include <Math.h>
#include <stdlib.h>
#define Knee_Up_Base 60
#define Knee_Down_Base 45
#define HipF_Base -20
#define HipM_Base 0
#define HipB_Base 20
#define Ankle_Base 45
#define Ankle_Straight -85
#define Dance_Angle 20
#define Body_Up_Base -45
#define Body_Down_Base 45
bool CSpider::m_bDebugDump = false;
CSpider::CSpider():
m_bAbort(false)
{
// TODO Auto-generated constructor stub
int i;
int szMotorID[] = {
/* LEG_RF */ 0, 1, 2,
/* LEG_RM */ 3, 4, 5,
/* LEG_RB */ 6, 7, 8,
/* LEG_LF */ 9, 10, 11,
/* LEG_LM */ 12, 13, 14,
/* LEG_LB */ 15, 16, 17
};
for(i=0;i<LEG_NUM;i++){
m_szLeg[i] = new CSpiderLeg(szMotorID[i*3], szMotorID[i*3+1], szMotorID[i*3+2]);
}
}
CSpider::~CSpider() {
// TODO Auto-generated destructor stub
int i;
for(i=0;i<LEG_NUM;i++){
delete m_szLeg[i];
}
}
void CSpider::Sleep(void){
int i;
for(i=0;i<LEG_NUM;i++){
m_szLeg[i]->Sleep();
} // for i
}
void CSpider::WakeUp(void){
int i;
uint32_t Start_Time;
for(i=0;i<LEG_NUM;i++){
m_szLeg[i]->WakeUp();
Start_Time = OS_GetTickCount()+100;
while(OS_GetTickCount() < Start_Time){}
} // for i
}
bool CSpider::Init(void){
bool bSuccess;
int i,j,nJointNum;
CSpiderLeg::JOINT_ID szJoint[] = {CSpiderLeg::Hip, CSpiderLeg::Knee, CSpiderLeg::Ankle};
uint32_t Timeout,Start_Time;
if (m_bDebugDump)
printf("[Spider]Init\r\n");
////////////////////////
//// Init -- The servo angle need enter 0.0 to enable.
nJointNum = sizeof(szJoint)/sizeof(szJoint[0]);
for(j=0;j<nJointNum;j++){
for(i=0;i<LEG_NUM;i++){
m_szLeg[i]->MoveJoint(szJoint[j], 0.0);
WaitReady(ReadyTime());
Start_Time = OS_GetTickCount()+100;
while(OS_GetTickCount() < Start_Time)
{}
} // for i
} // for j
////////////////////////
//// Init -- Adjust Knee Ankle
bSuccess = WaitReady(ReadyTime());
return bSuccess;
}
void CSpider::SetFootY(uint8_t Leg,float Angle)
{
float KneeAngle = Angle;
float AnkleAngle = Angle;
if(Angle < 90 && Angle > -90)
{
if(KneeAngle > 90)
Angle = 90;
else if(Angle <-90)
Angle = -90;
m_szLeg[Leg]->MoveJoint(CSpiderLeg::Ankle,AnkleAngle);
m_szLeg[Leg]->MoveJoint(CSpiderLeg::Knee,KneeAngle);
}
}
bool CSpider::WaitReady(uint32_t Timeout){
bool bReady = false;
uint32_t TimeStart;
// uint32_t Timeout;
// Timeout = alt_nticks() + (uint32_t)(fTimeoutSecond * (float)alt_ticks_per_second());
// Timeout = OS_GetTickCount() + (uint32_t)(fTimeoutSecond * (float)OS_TicksPerSecond());
Timeout = OS_GetTickCount() + (Timeout *3);
while(!bReady){
bReady = IsReady();
if (!bReady && (OS_GetTickCount() > Timeout))
break;
}
if (!bReady){
printf("[CSpider]!WaitReady, TimeStart=%u, Timeout=%u, CurrentTime=%u\r\n", TimeStart , Timeout, OS_GetTickCount());
}
return bReady;
}
bool CSpider::IsReady(void){
bool bReady = true;
int i;
for(i=0;i<LEG_NUM && bReady;i++){
if (!m_szLeg[i]->IsReady())
bReady = false;
}
return bReady;
}
void CSpider::MoveForward(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("MoveForward \n");
int num;
for(num=0;num<Repeat_Num && m_bAbort!= true;num++)
{
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base+20,HipM_Base+20,HipB_Base+20);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base-20,HipM_Base-20,HipB_Base-20);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base-20,HipM_Base-20,HipB_Base-20);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base+20,HipM_Base+20,HipB_Base+20);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
}
m_bAbort = false;
}
void CSpider::MoveBackward(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("MoveBackward \n");
int num=0;
for(num=0;num<Repeat_Num && m_bAbort!= true;num++)
{
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base-20,HipM_Base-20,HipB_Base-20);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base+20,HipM_Base+20,HipB_Base+20);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base+20,HipM_Base+20,HipB_Base+20);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base-20,HipM_Base-20,HipB_Base-20);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
}
m_bAbort = false;
}
void CSpider::RotatelRight(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("RotatelRight \n");
int num=0;
for(num=0;num<Repeat_Num && m_bAbort!= true;num++)
{
if(m_szLeg[LEG_RM]->GetfAngle(CSpiderLeg::Hip)!=0 && m_szLeg[LEG_LM]->GetfAngle(CSpiderLeg::Hip)!=0)
Reset();
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base-30,HipM_Base+30,HipB_Base-30);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base,HipM_Base,HipB_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
}
m_bAbort = false;
}
void CSpider::RotatelLeft(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("RotateLeft \n");
int num=0;
for(num=0;num<Repeat_Num && m_bAbort!= true;num++)
{
if(m_szLeg[LEG_RM]->GetfAngle(CSpiderLeg::Hip)!=0 && m_szLeg[LEG_LM]->GetfAngle(CSpiderLeg::Hip)!=0)
Reset();
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base+30,HipM_Base-30,HipB_Base+30);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base,HipM_Base,HipB_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
}
m_bAbort = false;
}
void CSpider::MoveParallelL(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("MoveParallelL \n");
// float fAngleAdjust_F = -40.0;
// float fAngleAdjust_B = 40.0;
int num=0;
for(num=0;num<Repeat_Num;num++)
{
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Ankle,Ankle_Base-15,Ankle_Base+15,Ankle_Base-15);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base+15,Knee_Up_Base-15,Knee_Up_Base+15);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
SetFootY(LEG_RF,Knee_Down_Base);
SetFootY(LEG_LM,Knee_Down_Base);
SetFootY(LEG_RB,Knee_Down_Base);
WaitReady(ReadyTime());
}
}
void CSpider::MoveParallelR(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("MoveParallelR \n");
int num=0;
for(num=0;num<Repeat_Num;num++)
{
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Ankle,Ankle_Base-15,Ankle_Base+15,Ankle_Base-15);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base+15,Knee_Up_Base-15,Knee_Up_Base+15);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
SetFootY(LEG_LF,Knee_Down_Base);
SetFootY(LEG_RM,Knee_Down_Base);
SetFootY(LEG_LB,Knee_Down_Base);
WaitReady(ReadyTime());
}
}
void CSpider::BodyUpDown(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("BodyUp \n");
int num=0;
for(num=0;num<Repeat_Num;num++)
{
SetFootY(LEG_LF,Body_Up_Base+20);//
SetFootY(LEG_LM,Body_Up_Base+20);
SetFootY(LEG_LB,Body_Up_Base+20);
SetFootY(LEG_RF,Body_Up_Base+20);
SetFootY(LEG_RM,Body_Up_Base+20);
SetFootY(LEG_RB,Body_Up_Base+20);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base+Dance_Angle,HipM_Base-Dance_Angle,HipB_Base+Dance_Angle);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base-Dance_Angle,HipM_Base+Dance_Angle,HipB_Base-Dance_Angle);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base-Dance_Angle,HipM_Base+Dance_Angle,HipB_Base-Dance_Angle);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base+Dance_Angle,HipM_Base-Dance_Angle,HipB_Base+Dance_Angle);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base,HipM_Base,HipB_Base);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base,HipM_Base,HipB_Base);
WaitReady(ReadyTime());
SetFootY(LEG_LF,Body_Down_Base);
SetFootY(LEG_LM,Body_Down_Base);
SetFootY(LEG_LB,Body_Down_Base);
SetFootY(LEG_RF,Body_Down_Base);
SetFootY(LEG_RM,Body_Down_Base);
SetFootY(LEG_RB,Body_Down_Base);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base+Dance_Angle,HipM_Base-Dance_Angle,HipB_Base+Dance_Angle);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base-Dance_Angle,HipM_Base+Dance_Angle,HipB_Base-Dance_Angle);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base-Dance_Angle,HipM_Base+Dance_Angle,HipB_Base-Dance_Angle);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base+Dance_Angle,HipM_Base-Dance_Angle,HipB_Base+Dance_Angle);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base,HipM_Base,HipB_Base);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base,HipM_Base,HipB_Base);
WaitReady(ReadyTime());
}
}
void CSpider::BodyForward()
{
if (m_bDebugDump)
printf("BodyForward \n");
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Hip,HipF_Base+Dance_Angle);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Hip,HipM_Base+Dance_Angle);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Hip,HipB_Base+Dance_Angle);
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Hip,HipF_Base+Dance_Angle);
m_szLeg[LEG_LM]->MoveJoint(CSpiderLeg::Hip,HipM_Base+Dance_Angle);
m_szLeg[LEG_LB]->MoveJoint(CSpiderLeg::Hip,HipB_Base+Dance_Angle);
WaitReady(ReadyTime());
}
void CSpider::BodyNone()
{
if (m_bDebugDump)
printf("BodyNone \n");
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Hip,HipF_Base);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Hip,HipM_Base);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Hip,HipB_Base);
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Hip,HipF_Base);
m_szLeg[LEG_LM]->MoveJoint(CSpiderLeg::Hip,HipM_Base);
m_szLeg[LEG_LB]->MoveJoint(CSpiderLeg::Hip,HipB_Base);
WaitReady(ReadyTime());
}
void CSpider::BodyBackward()
{
if (m_bDebugDump)
printf("BodyBackward \n");
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Hip,HipF_Base-Dance_Angle);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Hip,HipM_Base-Dance_Angle);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Hip,HipB_Base-Dance_Angle);
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Hip,HipF_Base-Dance_Angle);
m_szLeg[LEG_LM]->MoveJoint(CSpiderLeg::Hip,HipM_Base-Dance_Angle);
m_szLeg[LEG_LB]->MoveJoint(CSpiderLeg::Hip,HipB_Base-Dance_Angle);
WaitReady(ReadyTime());
}
void CSpider::TiltRight()
{
if (m_bDebugDump)
printf("TiltRight \n");
SetFootY(LEG_LF,Knee_Down_Base-Dance_Angle);
SetFootY(LEG_LM,Knee_Down_Base-Dance_Angle);
SetFootY(LEG_LB,Knee_Down_Base-Dance_Angle);
SetFootY(LEG_RF,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_RM,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_RB,Knee_Down_Base+Dance_Angle);
WaitReady(ReadyTime());
}
void CSpider::TiltNone()
{
if (m_bDebugDump)
printf("TiltNone \n");
SetFootY(LEG_LF,Knee_Down_Base);
SetFootY(LEG_LM,Knee_Down_Base);
SetFootY(LEG_LB,Knee_Down_Base);
SetFootY(LEG_RF,Knee_Down_Base);
SetFootY(LEG_RM,Knee_Down_Base);
SetFootY(LEG_RB,Knee_Down_Base);
WaitReady(ReadyTime());
}
void CSpider::TiltLeft()
{
if (m_bDebugDump)
printf("TiltLeft \n");
SetFootY(LEG_LF,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_LM,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_LB,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_RF,Knee_Down_Base-Dance_Angle);
SetFootY(LEG_RM,Knee_Down_Base-Dance_Angle);
SetFootY(LEG_RB,Knee_Down_Base-Dance_Angle);
WaitReady(ReadyTime());
}
void CSpider::TiltForward()
{
if (m_bDebugDump)
printf("TiltForward \n");
SetFootY(LEG_LF,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_LM,Knee_Down_Base );
SetFootY(LEG_LB,Knee_Down_Base-Dance_Angle);
SetFootY(LEG_RF,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_RM,Knee_Down_Base );
SetFootY(LEG_RB,Knee_Down_Base-Dance_Angle);
WaitReady(ReadyTime());
}
void CSpider::TiltBackward()
{
if (m_bDebugDump)
printf("TiltBackward \n");
SetFootY(LEG_LF,Knee_Down_Base-Dance_Angle);
SetFootY(LEG_LM,Knee_Down_Base );
SetFootY(LEG_LB,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_RF,Knee_Down_Base-Dance_Angle);
SetFootY(LEG_RM,Knee_Down_Base );
SetFootY(LEG_RB,Knee_Down_Base+Dance_Angle);
WaitReady(ReadyTime());
}
void CSpider::MoveTripod(TRIPOD_ID Tripod,CSpiderLeg::JOINT_ID Joint,float AngleF,float AngleM,float AngleB)
{
if(Tripod == 0)
{
m_szLeg[LEG_RF]->MoveJoint(Joint,AngleF);
m_szLeg[LEG_LM]->MoveJoint(Joint,AngleM);
m_szLeg[LEG_RB]->MoveJoint(Joint,AngleB);
}
else
{
m_szLeg[LEG_LF]->MoveJoint(Joint,AngleF);
m_szLeg[LEG_RM]->MoveJoint(Joint,AngleM);
m_szLeg[LEG_LB]->MoveJoint(Joint,AngleB);
}
}
void CSpider::Stomp(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("Stomp \n");
int num=0;
for(num=0;num<Repeat_Num;num++)
{
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Knee,Knee_Up_Base);
WaitReady(ReadyTime());
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Knee,Knee_Down_Base);
WaitReady(ReadyTime());
}
}
uint32_t CSpider::ReadyTime(void){
uint32_t TotalReadyTime = 0, ReadyTime;
int i;
for(i=0;i<LEG_NUM;i++){
ReadyTime = m_szLeg[i]->ReadyTime();
if (ReadyTime > TotalReadyTime)
TotalReadyTime = ReadyTime;
}
return TotalReadyTime;
}
bool CSpider::Standup(void){
bool bSuccess;
int i;
if (m_bDebugDump)
printf("[Spider]Standup\r\n");
////////////////////////
//// Stand up -- Adjust Hip
const int fAngleAdjust_F = -20;
const int fAngleAdjust_B = 20;
float fszJoin0Angle[] =
{fAngleAdjust_F,0,fAngleAdjust_B,
fAngleAdjust_F,0,fAngleAdjust_B};
for(i=0;i<LEG_NUM;i++)
m_szLeg[i]->MoveJoint(CSpiderLeg::Hip, fszJoin0Angle[i]);
bSuccess = WaitReady(ReadyTime());
////////////////////////
//// Stand up -- Adjust Knee ankle
float KneeAngle = 90;
const float AnkleAngle = 45.0;
while(bSuccess && KneeAngle >= 45.0){
for(i=0;i<LEG_NUM;i++){
m_szLeg[i]->MoveJoint(CSpiderLeg::Knee, KneeAngle);
m_szLeg[i]->MoveJoint(CSpiderLeg::Ankle,AnkleAngle);
}// for
bSuccess = WaitReady(ReadyTime());
KneeAngle -= 5.0;
}
if (bSuccess)
Reset();
return bSuccess;
}
void CSpider::Reset(void)
{
if (m_bDebugDump)
printf("Reset\n");
int i;
const int fAngleAdjust_F = -20;
const int fAngleAdjust_B = 20;
float fszJoin0Angle[] =
{fAngleAdjust_F,0,fAngleAdjust_B,
fAngleAdjust_F,0,fAngleAdjust_B};
////////////////////////
////Reset Hip Knee ankle
for(i=0;i<LEG_NUM-3;i++)
{
m_szLeg[i]->MoveJoint(CSpiderLeg::Knee, Knee_Up_Base);
m_szLeg[LEG_NUM-i-1]->MoveJoint(CSpiderLeg::Knee, Knee_Up_Base);
m_szLeg[i]->MoveJoint(CSpiderLeg::Hip, fszJoin0Angle[i]);
m_szLeg[LEG_NUM-i-1]->MoveJoint(CSpiderLeg::Hip, fszJoin0Angle[LEG_NUM-i-1]);
m_szLeg[i]->MoveJoint(CSpiderLeg::Ankle, Ankle_Base);
m_szLeg[LEG_NUM-i-1]->MoveJoint(CSpiderLeg::Ankle, Ankle_Base);
WaitReady(ReadyTime());
m_szLeg[i]->MoveJoint(CSpiderLeg::Knee, Knee_Down_Base);
m_szLeg[LEG_NUM-i-1]->MoveJoint(CSpiderLeg::Knee, Knee_Down_Base);
WaitReady(ReadyTime());
}
}
void CSpider::ByeBye(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("[Spider]Good Bye\n");
int num=0;
for(num=0;num<Repeat_Num;num++)
{
m_szLeg[LEG_LB]->MoveJoint(CSpiderLeg::Hip,HipB_Base-20);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Hip,HipB_Base-20);
m_szLeg[LEG_LM]->MoveJoint(CSpiderLeg::Hip,HipM_Base+20);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Hip,HipM_Base+20);
WaitReady(ReadyTime());
SetFootY(LEG_LM,Knee_Down_Base );
SetFootY(LEG_LB,Knee_Down_Base+Dance_Angle);
SetFootY(LEG_RM,Knee_Down_Base );
SetFootY(LEG_RB,Knee_Down_Base+Dance_Angle);
WaitReady(ReadyTime());
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Knee,Knee_Up_Base);
WaitReady(ReadyTime());
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Base-90);
WaitReady(ReadyTime());
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Hip,HipF_Base+30);
WaitReady(ReadyTime());
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Hip,HipF_Base-10);
WaitReady(ReadyTime());
}
}
void CSpider::SetSpeed(int Speed)
{
if (m_bDebugDump)
printf("[Spider]SetSpeed\n");
int i,j,nJointNum=0;
CSpiderLeg::JOINT_ID szJoint[] = {CSpiderLeg::Hip, CSpiderLeg::Knee, CSpiderLeg::Ankle};
nJointNum = sizeof(szJoint)/sizeof(szJoint[0]);
if(Speed > 100)
Speed = 100;
else if(Speed <10)
Speed = 10;
for(j=0;j<nJointNum;j++){
for(i=0;i<LEG_NUM;i++){
m_szLeg[i]->SetSpeed(szJoint[j],Speed);
} // for i
} // for j
}
void CSpider::Abort(void)
{
m_bAbort = true;
}
void CSpider::DEMO_Rollover(void)
{
int i;
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Knee,Knee_Up_Base);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Knee,Knee_Up_Base);
WaitReady(ReadyTime());
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Hip,HipF_Base+20);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Hip,HipB_Base+10);
WaitReady(ReadyTime());
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Knee,Knee_Down_Base);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Knee,Knee_Down_Base);
WaitReady(ReadyTime());
SetFootY(LEG_LF,Knee_Down_Base);
SetFootY(LEG_LM,Knee_Down_Base-20);
SetFootY(LEG_LB,Knee_Down_Base);
SetFootY(LEG_RF,Knee_Down_Base-30);
SetFootY(LEG_RM,Knee_Down_Base-30);
SetFootY(LEG_RB,Knee_Down_Base-30);
WaitReady(ReadyTime());
SetFootY(LEG_RM,Knee_Down_Base-80);
SetFootY(LEG_RB,Knee_Down_Base-80);
SetFootY(LEG_LF,Knee_Down_Base-90);
SetFootY(LEG_RB,Knee_Down_Base-90);
WaitReady(ReadyTime());
m_szLeg[LEG_RF]->SetSpeed(CSpiderLeg::Knee,90);
m_szLeg[LEG_RM]->SetSpeed(CSpiderLeg::Knee,90);
m_szLeg[LEG_RF]->SetSpeed(CSpiderLeg::Ankle,90);
m_szLeg[LEG_RM]->SetSpeed(CSpiderLeg::Ankle,70);
for(i=0;i<7;i++)
{
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Base-20);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Ankle,Ankle_Base+20);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Knee,Knee_Down_Base-10);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Knee,Knee_Up_Base+10);
WaitReady(ReadyTime());
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Base+20);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Ankle,Ankle_Base-20);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Knee,Knee_Up_Base+20);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Knee,Knee_Down_Base-40);
WaitReady(ReadyTime());
}
m_szLeg[LEG_RF]->SetSpeed(CSpiderLeg::Knee,50);
m_szLeg[LEG_RM]->SetSpeed(CSpiderLeg::Knee,50);
m_szLeg[LEG_RF]->SetSpeed(CSpiderLeg::Ankle,50);
m_szLeg[LEG_RM]->SetSpeed(CSpiderLeg::Ankle,50);
SetFootY(LEG_LF,Knee_Down_Base);
SetFootY(LEG_RB,Knee_Down_Base);
WaitReady(ReadyTime());
SetFootY(LEG_LM,Knee_Down_Base);
SetFootY(LEG_LB,Knee_Down_Base);
SetFootY(LEG_RF,Knee_Down_Base);
SetFootY(LEG_RM,Knee_Down_Base);
WaitReady(ReadyTime());
Reset();
}
void CSpider::DEMO_Dance(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("[Spider]Dance\n");
int num=0;
for(num=0;num<Repeat_Num;num++)
{
Stomp(8);
Reset();
RotatelRight(2);
RotatelLeft(2);
BodyForward();
usleep(1000000);
BodyNone();
BodyBackward();
usleep(1000000);
BodyNone();
DEMO_Rollover();
MoveForward(1);
Reset();
TiltForward();
TiltNone();
TiltBackward();
TiltNone();
BodyUpDown(1);
MoveBackward(1);
Reset();
TiltRight();
TiltNone();
TiltLeft();
TiltNone();
TiltRight();
TiltNone();
TiltLeft();
TiltNone();
ByeBye(3);
Reset();
}
}
//void CSpider::MoveTripod(TRIPOD_ID Tripod,CSpiderLeg::JOINT_ID Joint,float AngleF,float AngleM,float AngleB)
void CSpider::SnowAngel(uint8_t Repeat_Num)
{
if (m_bDebugDump)
printf("SnowAngel \n");
int num=0;
Flatten();
for(num=0;num<Repeat_Num;num++)
{
for(int j=0; j<360; j++){
SetSpeed(log(j)*10);
double c = cos((j*3.14159265)/180)*30;
double s = sin((j*3.14159265)/180)*20;
//s= abs(s);
MoveTripod(TRIPOD1,CSpiderLeg::Hip,HipF_Base+c,HipM_Base+c,HipB_Base+c);
MoveTripod(TRIPOD2,CSpiderLeg::Hip,HipF_Base+c,HipM_Base+c,HipB_Base+c);
MoveTripod(TRIPOD1,CSpiderLeg::Ankle,Ankle_Straight+s,Ankle_Straight+s,Ankle_Straight+s);
MoveTripod(TRIPOD2,CSpiderLeg::Ankle,Ankle_Straight+s,Ankle_Straight+s,Ankle_Straight+s);
WaitReady(ReadyTime());
}
}
SetSpeed(10);
Standup();
WaitReady(ReadyTime());
Reset();
}
void CSpider::Flatten()
{
if (m_bDebugDump)
printf("Flattening\n");
SetSpeed(10);
MoveTripod(TRIPOD1,CSpiderLeg::Ankle,Ankle_Base-130,Ankle_Base-130,Ankle_Base-130);
MoveTripod(TRIPOD2,CSpiderLeg::Ankle,Ankle_Base-130,Ankle_Base-130,Ankle_Base-130);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
WaitReady(ReadyTime());
}
void CSpider::AnkleStance(int ankleOffset)
{
if (m_bDebugDump)
printf("Squaring\n");
SetSpeed(70);
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Down_Base,Knee_Down_Base,Knee_Down_Base);
MoveTripod(TRIPOD1,CSpiderLeg::Ankle,Ankle_Base-10,Ankle_Base-10,Ankle_Base-10);
MoveTripod(TRIPOD2,CSpiderLeg::Ankle,Ankle_Base-10,Ankle_Base-10,Ankle_Base-10);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,0,0,0);
MoveTripod(TRIPOD2,CSpiderLeg::Knee,0,0,0);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
MoveTripod(TRIPOD1,CSpiderLeg::Ankle,Ankle_Straight+ankleOffset,Ankle_Straight+ankleOffset,Ankle_Straight+ankleOffset);
WaitReady(ReadyTime());
MoveTripod(TRIPOD1,CSpiderLeg::Knee,0,0,0);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,Knee_Up_Base,Knee_Up_Base,Knee_Up_Base);
MoveTripod(TRIPOD2,CSpiderLeg::Ankle,Ankle_Straight+ankleOffset,Ankle_Straight+ankleOffset,Ankle_Straight+ankleOffset);
WaitReady(ReadyTime());
MoveTripod(TRIPOD2,CSpiderLeg::Knee,0,0,0);
WaitReady(ReadyTime());
}
void CSpider::ArmSway(uint8_t Repeat_Num)
{
int hipSway = 20;
int ankleSway = 60;
if (m_bDebugDump)
printf("Squaring\n");
SetSpeed(30);
//TiltBackward();
//m_szLeg[LEG_LB]->MoveJoint(CSpiderLeg::Knee,20);
//m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Knee,20);
m_szLeg[LEG_LB]->MoveJoint(CSpiderLeg::Hip,HipM_Base-hipSway);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Hip,HipM_Base-hipSway);
WaitReady(ReadyTime());
m_szLeg[LEG_LM]->MoveJoint(CSpiderLeg::Hip,HipM_Base+hipSway);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Hip,HipM_Base+hipSway);
WaitReady(ReadyTime());
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Knee,Knee_Up_Base);
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Straight);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Knee,Knee_Up_Base);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Straight);
WaitReady(ReadyTime());
int num=0;
for(num=0;num<Repeat_Num;num++)
{
SetSpeed(30);
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Hip,HipF_Base-hipSway);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Hip,HipF_Base+hipSway);
SetSpeed(80);
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Straight+ankleSway);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Straight+ankleSway);
WaitReady(ReadyTime());
SetSpeed(30);
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Hip,HipF_Base+hipSway);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Hip,HipF_Base-hipSway);
WaitReady(ReadyTime());
SetSpeed(80);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Straight-ankleSway);
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Ankle,Ankle_Straight-ankleSway);
WaitReady(ReadyTime());
}
SetSpeed(30);
m_szLeg[LEG_LB]->MoveJoint(CSpiderLeg::Hip,HipM_Base);
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Hip,HipM_Base);
WaitReady(ReadyTime());
m_szLeg[LEG_LM]->MoveJoint(CSpiderLeg::Hip,HipM_Base);
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Hip,HipM_Base);
WaitReady(ReadyTime());
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Hip,HipM_Base);
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Hip,HipM_Base);
WaitReady(ReadyTime());
}
void CSpider::WaveFlutter(uint8_t Repeat_Num)
{
Flatten();
//WaitReady(ReadyTime());
int raiseAmount=30;
int num=0;
for(num=0;num<Repeat_Num;num++)
{
SetSpeed(70);
for(int i=0; i<360; i++){
m_szLeg[LEG_RM]->MoveJoint(CSpiderLeg::Knee,raiseAmount*(sin((i*3.14159265)/180)+1));
m_szLeg[LEG_RB]->MoveJoint(CSpiderLeg::Knee,raiseAmount*(sin(((i+60)*3.14159265)/180)+1));
m_szLeg[LEG_LB]->MoveJoint(CSpiderLeg::Knee,raiseAmount*(sin(((i+120)*3.14159265)/180)+1));
m_szLeg[LEG_LM]->MoveJoint(CSpiderLeg::Knee,raiseAmount*(sin(((i+180)*3.14159265)/180)+1));
m_szLeg[LEG_LF]->MoveJoint(CSpiderLeg::Knee,raiseAmount*(sin(((i+240)*3.14159265)/180)+1));
m_szLeg[LEG_RF]->MoveJoint(CSpiderLeg::Knee,raiseAmount*(sin(((i+300)*3.14159265)/180)+1));
WaitReady(ReadyTime());
}
}
}
void CSpider::BestDance(uint8_t Repeat_Num)
{
for(int r=0; r<Repeat_Num; r++){
//
AnkleStance(85);
ArmSway(3);
Standup();
SnowAngel(5);
WaveFlutter(5);
Standup();
/*
AnkleStance(false, 0, 85);
Standup();
SnowAngel(3);
Standup();
*/
//void CSpider::SetFootY(uint8_t Leg,float Angle)
}
}