static uint8_t guiStringList_SelectNextItem(guiStringList_t* list, int8_t dir)
{
uint8_t visibleHead = list->firstIndexToDisplay;
uint8_t visibleItemsCount = guiGraph_GetStringListVisibleItemCount(list);
uint8_t visibleTail = wrapIndex(list->firstIndexToDisplay, list->stringCount - 1, visibleItemsCount - 1);
uint8_t prevSelectedIndex = list->selectedIndex;
guiEvent_t event;
if ((list->selectedIndex == visibleHead) && (dir < 0))
{
if ((list->canWrap) || (list->selectedIndex != 0))
{
list->firstIndexToDisplay = wrapIndex(list->firstIndexToDisplay, list->stringCount - 1, dir);
list->selectedIndex = wrapIndex(list->selectedIndex, list->stringCount - 1, dir);
}
}
else if ((list->selectedIndex == visibleTail) && (dir > 0))
{
if ((list->canWrap) || (list->selectedIndex != list->stringCount - 1))
{
list->firstIndexToDisplay = wrapIndex(list->firstIndexToDisplay, list->stringCount - 1, dir);
list->selectedIndex = wrapIndex(list->selectedIndex, list->stringCount - 1, dir);
}
}
else
{
list->selectedIndex = wrapIndex(list->selectedIndex, list->stringCount - 1, dir);
}
if (prevSelectedIndex != list->selectedIndex)
{
event.type = STRINGLIST_INDEX_CHANGED;
guiCore_CallEventHandler((guiGenericWidget_t *)list, &event );
list->redrawRequired = 1;
list->redrawForced = 1;
return 1;
}
else
{
return 0;
}
}
CreepGait::FullPlanArray CreepGait::interleaveLegs(LegPlanArray front, LegPlanArray back) {
//int steps[16][12];
FullPlanArray plan;
// The beat that the leg should start rising
int rightRearStart = 0;
int rightFrontStart = 4;
int leftRearStart = 8;
int leftFrontStart = 12;
for(int i=0;i<16;i++) {
plan.steps[wrapIndex(i+rightRearStart)][BACK_RIGHT_COXA] = back.steps[i][0];
plan.steps[wrapIndex(i+rightRearStart)][BACK_RIGHT_FEMUR] = back.steps[i][1];
plan.steps[wrapIndex(i+rightRearStart)][BACK_RIGHT_TIBIA] = back.steps[i][2];
plan.steps[wrapIndex(i+rightFrontStart)][FRONT_RIGHT_COXA] = front.steps[i][0];
plan.steps[wrapIndex(i+rightFrontStart)][FRONT_RIGHT_FEMUR] = front.steps[i][1];
plan.steps[wrapIndex(i+rightFrontStart)][FRONT_RIGHT_TIBIA] = front.steps[i][2];
plan.steps[wrapIndex(i+leftRearStart)][BACK_LEFT_COXA] = back.steps[i][0];
plan.steps[wrapIndex(i+leftRearStart)][BACK_LEFT_FEMUR] = back.steps[i][1];
plan.steps[wrapIndex(i+leftRearStart)][BACK_LEFT_TIBIA] = back.steps[i][2];
plan.steps[wrapIndex(i+leftFrontStart)][FRONT_LEFT_COXA] = front.steps[i][0];
plan.steps[wrapIndex(i+leftFrontStart)][FRONT_LEFT_FEMUR] = front.steps[i][1];
plan.steps[wrapIndex(i+leftFrontStart)][FRONT_LEFT_TIBIA] = front.steps[i][2];
}
return plan;
}
inline void previous()
{
--index;
wrapIndex();
}
inline void next()
{
++index;
wrapIndex();
}
