d545f746bc
* Add EDA Education Board Configuration - Add eda-tv-pro Board Configuration - Add eda-robot-pro Board Configuration - Add eda-super-bear Board Configuration * docs(oscillator): Add file headers with copyright and license information - Add comprehensive file headers to oscillator.cc and oscillator.h in eda-robot-pro board - Add comprehensive file headers to oscillator.cc and oscillator.h in eda-super-bear board - Include original author attribution (Juan Gonzalez-Gomez/Obijuan) and ESP32 port credit (txp666) - Include GPL license notice and file descriptions for clarity and compliance * fix: Move the eda* boards to the lceda-course-examples folder. - Move eda-robot-pro, eda-super-bear, and eda-tv-pro boards to lceda-course-examples subdirectory - Update CMakeLists.txt to set MANUFACTURER variable for each board configuration
105 lines
3.4 KiB
C++
105 lines
3.4 KiB
C++
#ifndef __EDA_ROBOT_MAX_MOVEMENTS_H__
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#define __EDA_ROBOT_MAX_MOVEMENTS_H__
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "oscillator.h"
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//-- Constants
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#define FORWARD 1
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#define BACKWARD -1
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#define LEFT 1
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#define RIGHT -1
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#define BOTH 0
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#define SMALL 5
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#define MEDIUM 15
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#define BIG 30
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// -- Servo delta limit default. degree / sec
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#define SERVO_LIMIT_DEFAULT 240
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// -- Servo indexes for easy access
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#define LEFT_LEG 0
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#define RIGHT_LEG 1
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#define LEFT_FOOT 2
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#define RIGHT_FOOT 3
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#define LEFT_HAND 4
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#define RIGHT_HAND 5
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#define SERVO_COUNT 6
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class EdaRobot {
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public:
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EdaRobot();
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~EdaRobot();
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//-- EdaRobot initialization
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void Init(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand = -1,
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int right_hand = -1);
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//-- Attach & detach functions
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void AttachServos();
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void DetachServos();
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//-- Oscillator Trims
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void SetTrims(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand = 0,
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int right_hand = 0);
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//-- Predetermined Motion Functions
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void MoveServos(int time, int servo_target[]);
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void MoveSingle(int position, int servo_number);
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void OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
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double phase_diff[SERVO_COUNT], float cycle);
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//-- HOME = EdaRobot at rest position
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void Home(bool hands_down = true);
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bool GetRestState();
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void SetRestState(bool state);
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//-- Predetermined Motion Functions
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void Jump(float steps = 1, int period = 2000);
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void Walk(float steps = 4, int period = 1000, int dir = FORWARD, int amount = 0);
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void Turn(float steps = 4, int period = 2000, int dir = LEFT, int amount = 0);
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void Bend(int steps = 1, int period = 1400, int dir = LEFT);
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void ShakeLeg(int steps = 1, int period = 2000, int dir = RIGHT);
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void UpDown(float steps = 1, int period = 1000, int height = 20);
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void Swing(float steps = 1, int period = 1000, int height = 20);
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void TiptoeSwing(float steps = 1, int period = 900, int height = 20);
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void Jitter(float steps = 1, int period = 500, int height = 20);
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void AscendingTurn(float steps = 1, int period = 900, int height = 20);
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void Moonwalker(float steps = 1, int period = 900, int height = 20, int dir = LEFT);
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void Crusaito(float steps = 1, int period = 900, int height = 20, int dir = FORWARD);
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void Flapping(float steps = 1, int period = 1000, int height = 20, int dir = FORWARD);
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// -- 手部动作
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void HandsUp(int period = 1000, int dir = 0); // 双手举起
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void HandsDown(int period = 1000, int dir = 0); // 双手放下
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void HandWave(int period = 1000, int dir = LEFT); // 挥手
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void HandWaveBoth(int period = 1000); // 双手同时挥手
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// -- Servo limiter
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void EnableServoLimit(int speed_limit_degree_per_sec = SERVO_LIMIT_DEFAULT);
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void DisableServoLimit();
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private:
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Oscillator servo_[SERVO_COUNT];
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int servo_pins_[SERVO_COUNT];
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int servo_trim_[SERVO_COUNT];
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unsigned long final_time_;
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unsigned long partial_time_;
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float increment_[SERVO_COUNT];
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bool is_edarobot_resting_;
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bool has_hands_; // 是否有手部舵机
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void Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
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double phase_diff[SERVO_COUNT], float steps);
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};
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#endif // __EDA_ROBOT_MAX_MOVEMENTS_H__
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