Diff: Hexapod.cpp

Revision:

0:c15ca34340a7

Child:

1:24ba9327c9ee

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexapod.cpp	Tue May 03 15:54:32 2016 +0000
@@ -0,0 +1,79 @@
+#include "Hexapod.h"
+
+#define I2C_ADDR_1 0x82
+#define I2C_ADDR_2 0x84
+
+
+
+
+
+Hexapod::Hexapod(I2C i2c) :
+
+    
+    board_1(I2C_ADDR_1, i2c, 50),
+    board_2(I2C_ADDR_2, i2c, 50),    
+    
+    //*GROUP 1*
+    leg_1(board_1, leg_cent[1], leg_step[1], leg_out[0], true),
+    leg_5(board_2, leg_cent[5], leg_step[5], leg_out[1], false),    
+    leg_3(board_1, leg_cent[3], leg_step[3], leg_out[2], true),
+    
+    group_1(board_1, leg_1, leg_5, leg_3, 1),
+    //**
+    
+    //*GROUP 2*
+    leg_4(board_2, leg_cent[4], leg_step[4], leg_out[0], false),
+    leg_2(board_1, leg_cent[2], leg_step[2], leg_out[1], true),
+    leg_6(board_2, leg_cent[6], leg_step[6], leg_out[2], false),
+    
+    group_2(board_2, leg_4, leg_2, leg_6, 2),
+    //**
+    
+    gait(group_1, group_2)
+
+{
+    
+}
+
+
+void Hexapod::init(void)
+{
+    
+    board_1.init();
+    board_2.init();
+    
+    group_1.set_gait_start(3);
+    group_2.set_gait_start(0); 
+    
+    stand();
+    
+}
+
+
+
+void Hexapod::stand(void)
+{
+    leg_1.set_joint_angles(0, 0, -90);
+    leg_2.set_joint_angles(0, 0, -90);
+    leg_3.set_joint_angles(0, 0, -90);
+    board_1.update();
+
+    leg_4.set_joint_angles(0, 0, -90);
+    leg_5.set_joint_angles(0, 0, -90);
+    leg_6.set_joint_angles(0, 0, -90);
+    board_2.update();
+}
+
+void Hexapod::walk(void) 
+{
+    
+    gait.start(1);
+       
+}
+
+void Hexapod::halt(void)
+{
+    
+    gait.stop();
+       
+}
\ No newline at end of file