Calum Johnston / Hexapod_Library

Class to drive a Hexapod Robot using two PCA9685 PWM Driver boards.

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Hexapod.cpp@3:82ac75ea08a7, 2016-05-11 (annotated)

Committer:
el13cj
Date:
Wed May 11 15:47:09 2016 +0000
Revision:
3:82ac75ea08a7
Parent:
2:e83b4acfcb36 
Ready

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 0:c15ca34340a7 1 #include "Hexapod.h"
el13cj 0:c15ca34340a7 2
el13cj 0:c15ca34340a7 3 #define I2C_ADDR_1 0x82
el13cj 0:c15ca34340a7 4 #define I2C_ADDR_2 0x84
el13cj 0:c15ca34340a7 5
el13cj 0:c15ca34340a7 6 Hexapod::Hexapod(I2C i2c) :
el13cj 0:c15ca34340a7 7
el13cj 0:c15ca34340a7 8 board_1(I2C_ADDR_1, i2c, 50),
el13cj 0:c15ca34340a7 9 board_2(I2C_ADDR_2, i2c, 50),
el13cj 0:c15ca34340a7 10
el13cj 0:c15ca34340a7 11 //*GROUP 1*
el13cj 0:c15ca34340a7 12 leg_1(board_1, leg_cent[1], leg_step[1], leg_out[0], true),
el13cj 0:c15ca34340a7 13 leg_5(board_2, leg_cent[5], leg_step[5], leg_out[1], false),
el13cj 0:c15ca34340a7 14 leg_3(board_1, leg_cent[3], leg_step[3], leg_out[2], true),
el13cj 0:c15ca34340a7 15
el13cj 1:24ba9327c9ee 16 group_1(board_1, leg_1, leg_5, leg_3, 1, 0),
el13cj 0:c15ca34340a7 17 //**
el13cj 0:c15ca34340a7 18
el13cj 0:c15ca34340a7 19 //*GROUP 2*
el13cj 0:c15ca34340a7 20 leg_4(board_2, leg_cent[4], leg_step[4], leg_out[0], false),
el13cj 0:c15ca34340a7 21 leg_2(board_1, leg_cent[2], leg_step[2], leg_out[1], true),
el13cj 0:c15ca34340a7 22 leg_6(board_2, leg_cent[6], leg_step[6], leg_out[2], false),
el13cj 0:c15ca34340a7 23
el13cj 1:24ba9327c9ee 24 group_2(board_2, leg_4, leg_2, leg_6, 2, 3),
el13cj 0:c15ca34340a7 25 //**
el13cj 0:c15ca34340a7 26
el13cj 0:c15ca34340a7 27 gait(group_1, group_2)
el13cj 0:c15ca34340a7 28
el13cj 0:c15ca34340a7 29 {
el13cj 0:c15ca34340a7 30
el13cj 0:c15ca34340a7 31 }
el13cj 0:c15ca34340a7 32
el13cj 0:c15ca34340a7 33 void Hexapod::init(void)
el13cj 0:c15ca34340a7 34 {
el13cj 0:c15ca34340a7 35
el13cj 0:c15ca34340a7 36 board_1.init();
el13cj 0:c15ca34340a7 37 board_2.init();
el13cj 0:c15ca34340a7 38
el13cj 1:24ba9327c9ee 39 /*
el13cj 1:24ba9327c9ee 40 group_1.set_gait_start(0);
el13cj 1:24ba9327c9ee 41 group_2.set_gait_start(5);
el13cj 1:24ba9327c9ee 42 */
el13cj 0:c15ca34340a7 43
el13cj 0:c15ca34340a7 44 stand();
el13cj 0:c15ca34340a7 45
el13cj 0:c15ca34340a7 46 }
el13cj 0:c15ca34340a7 47
el13cj 0:c15ca34340a7 48 void Hexapod::stand(void)
el13cj 0:c15ca34340a7 49 {
el13cj 0:c15ca34340a7 50 leg_1.set_joint_angles(0, 0, -90);
el13cj 0:c15ca34340a7 51 leg_2.set_joint_angles(0, 0, -90);
el13cj 0:c15ca34340a7 52 leg_3.set_joint_angles(0, 0, -90);
el13cj 0:c15ca34340a7 53 board_1.update();
el13cj 0:c15ca34340a7 54
el13cj 0:c15ca34340a7 55 leg_4.set_joint_angles(0, 0, -90);
el13cj 0:c15ca34340a7 56 leg_5.set_joint_angles(0, 0, -90);
el13cj 0:c15ca34340a7 57 leg_6.set_joint_angles(0, 0, -90);
el13cj 0:c15ca34340a7 58 board_2.update();
el13cj 0:c15ca34340a7 59 }
el13cj 0:c15ca34340a7 60
el13cj 2:e83b4acfcb36 61 void Hexapod::walk(int Dir)
el13cj 0:c15ca34340a7 62 {
el13cj 2:e83b4acfcb36 63 gait.stop();
el13cj 2:e83b4acfcb36 64
el13cj 2:e83b4acfcb36 65 direction = Dir;
el13cj 0:c15ca34340a7 66
el13cj 0:c15ca34340a7 67 gait.start(1);
el13cj 0:c15ca34340a7 68
el13cj 0:c15ca34340a7 69 }
el13cj 0:c15ca34340a7 70
el13cj 0:c15ca34340a7 71 void Hexapod::halt(void)
el13cj 0:c15ca34340a7 72 {
el13cj 0:c15ca34340a7 73
el13cj 0:c15ca34340a7 74 gait.stop();
el13cj 0:c15ca34340a7 75
el13cj 0:c15ca34340a7 76 }