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ArduinoProjects / Experimental / MicroHorse / MicroHorse.ino

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// Sweep
// by BARRAGAN <http://barraganstudio.com> 
// This example code is in the public domain.

#include <NewPing.h>
#include <Servo.h> 
#include <MathTypes.h>
#include <MathUtil.h>
#include <Animation.h>

#define DEBUG_RESET 1
 
const float updateAnimSPF = 1.0f/60.0f;
  
Animation* upperLegServoAnimFR;
Animation* upperLegServoAnimFL;
Animation* upperLegServoAnimBR;
Animation* upperLegServoAnimBL;
Animation* lowerLegServoAnimFR;
Animation* lowerLegServoAnimFL;
Animation* lowerLegServoAnimBR;
Animation* lowerLegServoAnimBL;
Animation* pingAnim;

float overallMovementR = 1.0f;
float overallMovementL = 1.0f;

const float animSpeed = 1.5f;

const float backLegOffset = 0.8f;

const float rightSideOffset = 3.5f*0.45f;

//Ping
Servo servoPingSensor;
int ultrasonicMaxDistanceCM = 400;
int ultraSoundSignal = 3; // Ultrasound signal pin
NewPing* sonar;

float pingAnimVal;
const Animation::AnimMode pingAnimMode = Animation::AnimMode_PingPong;
const int pingAnimNumValues = 2;
Animation::KeyFrame pingAnimValues[pingAnimNumValues] = {{0.0f,-70},{1.0f,70}};

const Animation::AnimMode upperLegMode = Animation::AnimMode_Wrap;
const Animation::AnimMode lowerLegMode = Animation::AnimMode_Wrap;

//Top

//Front
const int numUpperLegAnimValuesF = 4;
Animation::KeyFrame upperLegAnimValuesF[numUpperLegAnimValuesF] = {{0.0f,20},{1.0f,-60},{2.1f,-20},{3.5f,20}};

//Back
const int numUpperLegAnimValuesB = 4;
Animation::KeyFrame upperLegAnimValuesB[numUpperLegAnimValuesB] = {{0.0f,30},{1.0f,-50},{2.1f,10},{3.5f,30}};


//Bottom

//Front
const int numLowerLegAnimValuesF = 5;
Animation::KeyFrame lowerLegAnimValuesF[numLowerLegAnimValuesF] = {{0.0f,-5},{0.9f,90},{1.25f,-20},{2.0f,0},{3.5f,-5}};


//Back
const int numLowerLegAnimValuesB = 5;
Animation::KeyFrame lowerLegAnimValuesB[numLowerLegAnimValuesB] = {{0.0f,15},{0.6f,90},{1.7f,-20},{2.0f,0},{3.5f,15}};


Servo servoUpperFR;
Servo servoUpperFL;
Servo servoUpperBR;
Servo servoUpperBL;

Servo servoLowerFR;
Servo servoLowerFL;
Servo servoLowerBR;
Servo servoLowerBL;

unsigned long lastPingStateMicros;

unsigned long echo = 0;

float lastTimeMillis = 0.0f;
void setup() 
{ 
  Serial.begin(9600);
  
  sonar = new NewPing(ultraSoundSignal,ultraSoundSignal,ultrasonicMaxDistanceCM);
  
  //Create animations
  pingAnim = new Animation(pingAnimValues,pingAnimNumValues,pingAnimMode);
  
  //Left legs
  upperLegServoAnimFL = new Animation(upperLegAnimValuesF,numUpperLegAnimValuesF,upperLegMode);
  lowerLegServoAnimFL = new Animation(lowerLegAnimValuesF,numLowerLegAnimValuesF,lowerLegMode);
  upperLegServoAnimBL = new Animation(upperLegAnimValuesB,numUpperLegAnimValuesB,upperLegMode);
  lowerLegServoAnimBL = new Animation(lowerLegAnimValuesB,numLowerLegAnimValuesB,lowerLegMode);
  
  //Right legs
  upperLegServoAnimFR = new Animation(upperLegAnimValuesF,numUpperLegAnimValuesF,upperLegMode);
  lowerLegServoAnimFR = new Animation(lowerLegAnimValuesF,numLowerLegAnimValuesF,lowerLegMode);
  upperLegServoAnimBR = new Animation(upperLegAnimValuesB,numUpperLegAnimValuesB,upperLegMode);
  lowerLegServoAnimBR = new Animation(lowerLegAnimValuesB,numLowerLegAnimValuesB,lowerLegMode);

  //Right legs
  upperLegServoAnimFR->currT += rightSideOffset;
  lowerLegServoAnimFR->currT += rightSideOffset;
  upperLegServoAnimBR->currT += rightSideOffset;
  lowerLegServoAnimBR->currT += rightSideOffset;
  
  //Left legs
  upperLegServoAnimFL->animSpeed = animSpeed;
  lowerLegServoAnimFL->animSpeed = animSpeed;
  upperLegServoAnimBL->animSpeed = animSpeed;
  lowerLegServoAnimBL->animSpeed = animSpeed;

  //Right legs
  upperLegServoAnimFR->animSpeed = animSpeed;
  lowerLegServoAnimFR->animSpeed = animSpeed;
  upperLegServoAnimBR->animSpeed = animSpeed;
  lowerLegServoAnimBR->animSpeed = animSpeed;
  
  //Left legs
  upperLegServoAnimBL->currT += backLegOffset;
  lowerLegServoAnimBL->currT += backLegOffset;

  //Right legs
  upperLegServoAnimBR->currT += backLegOffset;
  lowerLegServoAnimBR->currT += backLegOffset;
  
  servoUpperFR.attach(4);
  servoUpperFL.attach(5);
  servoUpperBR.attach(6);
  servoUpperBL.attach(7);
  
  servoLowerFR.attach(8);
  servoLowerFL.attach(9);
  servoLowerBR.attach(10);
  servoLowerBL.attach(11);
  
  servoPingSensor.attach(12);
  
  pinMode(ultraSoundSignal,OUTPUT);

  //Init time
  lastTimeMillis = millis();
} 

float pingUpdateTimer = 0.0f;
float animUpdateTimer = 0.0f;

float distInLeft = 0.0f;
float distInCenter = 0.0f;
float distInRight = 0.0f;

enum PingState
{
  PingState_Left,
  PingState_Center,
  PingState_Right,
};

PingState pingState = PingState_Center;
float maxPingIn = 0.0f;

void ChangePingState(PingState newState);
void ChangePingState(PingState newState)
{
  switch(newState)
    {
      case PingState_Left:
      { 
        Serial.println("Left");
        
        break;
      }
      case PingState_Center:
      { 
        Serial.println("Center");
        
        break;
      }
      case PingState_Right:
      {
        Serial.println("Right");
        
        break;
      }
    }
    
    pingState = newState;
}

void loop() 
{ 
  //Get current time in seconds
  float currTimeMillis = millis();
  float timeDelta = (currTimeMillis-lastTimeMillis)/1000.0f;
  lastTimeMillis = currTimeMillis;
  
  pingUpdateTimer -= timeDelta;
  if(pingUpdateTimer < 0.0f)
  {
    pingUpdateTimer += 0.1f;
    
    //pingState = PingState_Start;
    float distInches = sonar->ping_in();
    
    switch(pingState)
    {
      case PingState_Left:
      {
        if(pingAnimVal > -30.0f)
        {
          ChangePingState(PingState_Center);
        }
        
        break;
      }
      case PingState_Center:
      {
        if(pingAnimVal > 30.0f)
        {
          ChangePingState(PingState_Right);
        }
        else if(pingAnimVal < -30.0f)
        {
          ChangePingState(PingState_Left);
        }
        
        break;
      }
      case PingState_Right:
      {
        if(pingAnimVal < 30.0f)
        {
           ChangePingState(PingState_Center);
        }
        
        break;
      }
    }
    
    /*if(pingAnimVal < -30.0f)
    {
      distInLeft = distInches;
    }
    else if(pingAnimVal > 30.0f)
    {
      distInRight = distInches;
    }
    else
    {
      distInCenter = distInches;
    }
    
    Serial.print("Left: ");
    Serial.print(distInLeft);
    Serial.print(", ");
    
    Serial.print("Center: ");
    Serial.print(distInCenter);
    Serial.print(", ");
    
    Serial.print("Left: ");
    Serial.println(distInRight);*/
  }
  
  animUpdateTimer -= timeDelta;
  if(animUpdateTimer < 0.0f)
  {
    animUpdateTimer += updateAnimSPF;
    
    UpdateAnims(updateAnimSPF);
  }
} 

void UpdateAnims(float timeDelta)
{
  //Update animations
  //Right legs
  upperLegServoAnimFR->Update(timeDelta); 
  lowerLegServoAnimFR->Update(timeDelta);
  upperLegServoAnimBR->Update(timeDelta); 
  lowerLegServoAnimBR->Update(timeDelta);
  
  //Left legs
  upperLegServoAnimFL->Update(timeDelta);
  lowerLegServoAnimFL->Update(timeDelta);
  upperLegServoAnimBL->Update(timeDelta);
  lowerLegServoAnimBL->Update(timeDelta);  
  
  pingAnim->Update(timeDelta);
  pingAnimVal = pingAnim->CalcAnimVal();
  
  const float finalPingAnimVal = pingAnimVal+90.0f;
  
  float topFrontRightAnimVal =  upperLegServoAnimFR->CalcAnimVal();
  float topFrontLeftAnimVal = -upperLegServoAnimFL->CalcAnimVal();
  float topBackRightAnimVal =  upperLegServoAnimBR->CalcAnimVal();
  float topBackLeftAnimVal = -upperLegServoAnimBL->CalcAnimVal();
  
  float bottomFrontRightAnimVal =  lowerLegServoAnimFR->CalcAnimVal();
  float bottomFrontLeftAnimVal = -lowerLegServoAnimFL->CalcAnimVal();
  float bottomBackRightAnimVal =  lowerLegServoAnimBR->CalcAnimVal();
  float bottomBackLeftAnimVal = -lowerLegServoAnimBL->CalcAnimVal();
  
   //Right legs
  topFrontRightAnimVal *= overallMovementR;
  bottomFrontRightAnimVal *= overallMovementR;
  topBackRightAnimVal *= overallMovementR;
  bottomBackRightAnimVal *= overallMovementR;
  
  //Left legs
  topFrontLeftAnimVal *= overallMovementL;
  bottomFrontLeftAnimVal *= overallMovementL;
  topBackLeftAnimVal *= overallMovementL;
  bottomBackLeftAnimVal *= overallMovementL;
  
  //Right legs
  topFrontRightAnimVal += 90.0f;
  bottomFrontRightAnimVal += 90.0f;
  topBackRightAnimVal += 90.0f;
  bottomBackRightAnimVal += 90.0f;
  
  //Left legs
  topFrontLeftAnimVal += 90.0f;
  bottomFrontLeftAnimVal += 90.0f;
  topBackLeftAnimVal += 90.0f;
  bottomBackLeftAnimVal += 90.0f;  
  
  servoPingSensor.write(finalPingAnimVal); 
  
 #if !DEBUG_RESET
   //Set servo values from animations
  servoUpperFR.write(topFrontRightAnimVal);
  servoLowerFR.write(bottomFrontRightAnimVal);
  servoUpperBR.write(topBackRightAnimVal);
  servoLowerBR.write(bottomBackRightAnimVal);
  
  servoUpperFL.write(topFrontLeftAnimVal);
  servoLowerFL.write(bottomFrontLeftAnimVal);
  servoUpperBL.write(topBackLeftAnimVal);
  servoLowerBL.write(bottomBackLeftAnimVal);
 #endif
}