void csc_servo_set(uint8_t id, uint32_t val)
{
if(id > 3) return;
#ifdef CSC_MOTORS_I2C
Actuator(id) = val;
#else
switch(id){
case 0: Actuator(0) = val; break;
case 1: Actuator(5) = val; break;
case 2: Actuator(4) = val; break;
case 3: Actuator(3) = val; break;
}
#endif
}
Leg::Leg(Controller* parent, Vec3f center, float rotation, boolean flipped,
int pwmPins[], int potPins[], bool simulate) {
this->parent = parent;
this->center = center;
this->centerOfRotation = center;
this->rotation = rotation;
this->flipped = flipped;
if(pwmPins[0] >= 0 && potPins[0] >= 0) // Local, or just simulated
this->remote = false;
else {
this->remote = true;
this->remotePort = abs(potPins[0]) - 1;
this->remoteIndex = abs(pwmPins[0]) - 1;
}
bool flip;
for(int i=0; i<3; i++) {
if((flipped && i != 1) || (!flipped && i == 1)) flip = true;
else flip = false;
//actuators[i] = Actuator(this, 0,0, 353, 499, simulate);
actuators[i] = Actuator(this, pwmPins[i], potPins[i],
353, 499, flip, simulate || remote);
}
solveFK();
setTarget(foot, true);
}
void csc_servos_set(int32_t* val)
{
#ifdef CSC_MOTORS_I2C
Actuator(0) = val[0];
Actuator(1) = val[1];
Actuator(2) = val[2];
Actuator(3) = val[3];
#else
Actuator(0) = val[0];
Actuator(5) = val[1];
Actuator(4) = val[2];
Actuator(3) = val[3];
#endif
csc_servos_commit();
}
void setup()
{
// debugging channel
Serial1.begin(57600);
while (!Serial1)
{
delay(100);
}
Serial1.print( "RAM at setup " );
Serial1.println( freeRam() );
// ALRAM
pinMode(ALARM_LED_PIN, OUTPUT);
digitalWrite( ALARM_LED_PIN, LOW );
// must "begin" the button to get proper pin assignment/muxing
b.begin();
// initializing ADC channels. The channels 0...7 are assigned to the
// pins A0...A7. Note that the display and the config.txt files, as well as
// the shield's silk layer use enumeration 1 to 8
ADCs[0] = AdcChannel(A0);
ADCs[1] = AdcChannel(A1);
ADCs[2] = AdcChannel(A2);
ADCs[3] = AdcChannel(A3);
ADCs[4] = AdcChannel(A4);
ADCs[5] = AdcChannel(A5);
ADCs[6] = AdcChannel(A6);
ADCs[7] = AdcChannel(A7);
// initializing actuators. The Id is 0 to 7, a bit number in
// actuator byte of the ADC channel. The mapping to the pin is
// pin = A8 + Id
Actuators[0] = Actuator(0, true);
Actuators[1] = Actuator(1, true);
Actuators[2] = Actuator(2, true);
Actuators[3] = Actuator(3, true);
Actuators[4] = Actuator(4, true);
Actuators[5] = Actuator(5, true);
Actuators[6] = Actuator(6, true);
Actuators[7] = Actuator(7, false); // the last actuator is not connected through ULN2003 but directly
// The Real Time Clock
rtc.begin(); // returns bool, but is never false
Serial1.print( "RAM after rtc.begin " );
Serial1.println( freeRam() );
if(rtc.isrunning())
Serial1.println("RTC is running");
else
{
Serial1.println("RTC is NOT running");
rtc.adjust(DateTime(__DATE__, __TIME__)); // setup the current date and time initially
}
DateTime now = rtc.now();
Serial1.print(now.year(), DEC);
Serial1.print('/');
Serial1.print(now.month(), DEC);
Serial1.print('/');
Serial1.print(now.day(), DEC);
Serial1.print(" (");
Serial1.print(daysOfTheWeek[now.dayOfTheWeek()]);
Serial1.print(") ");
Serial1.print(now.hour(), DEC);
Serial1.print(':');
Serial1.print(now.minute(), DEC);
Serial1.print(':');
Serial1.print(now.second(), DEC);
Serial1.println();
// activate LCD module
lcd.begin (16,2); // for 16 x 2 LCD module
lcd.setBacklightPin(3,POSITIVE);
lcd.setBacklight(HIGH);
Serial1.print( "RAM after lcd.begin " );
Serial1.println( freeRam() );
if(!Store.begin())
{
Serial1.println("Error initializing the storage");
digitalWrite( ALARM_LED_PIN, HIGH );
}
Serial1.print( "RAM after Storage.begin " );
Serial1.println( freeRam() );
// the below makes sure the 1st active item is displayed upon start up. Otherwise
// the item 0 is displayed, even if inactive
Store.mIndex = CHANNEL_COUNT-1;
Store.Advance();
}
Actuator DataClass::actuator(
String name, byte pin, Timer time) {
return Actuator(name, pin, time);
}
/** Actuator **/
Actuator DataClass::actuator(
String name, byte pin) {
return Actuator(name, pin, _timer);
}
