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94 lines
2.7 KiB
C++
94 lines
2.7 KiB
C++
#include <Arduino.h>
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#ifndef __LREMOTE_H__
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#include <LRemote.h>
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#define __LREMOTE_H__
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#endif
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#include "linkit_control/ui_controls.h"
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#include "hexapod/debug.h"
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#include "hexapod/config.h"
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#include "hexapod/hexapod.h"
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#define REACT_DELAY hexapod::config::movementInterval
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static Button buttonForward(hexapod::MOVEMENT_FORWARD, "Forward", 1, 3, 1, 1, RC_BLUE);
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static Button buttonRun(hexapod::MOVEMENT_FORWARDFAST, "Run", 1, 2, 1, 1, RC_ORANGE);
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static Button buttonBackward(hexapod::MOVEMENT_BACKWARD, "Backward", 1, 4, 1, 1, RC_BLUE);
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static Button buttonTL(hexapod::MOVEMENT_TURNLEFT, "TurnLeft", 0, 3, 1, 1, RC_GREEN);
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static Button buttonTR(hexapod::MOVEMENT_TURNRIGHT, "TurnRight", 2, 3, 1, 1, RC_GREEN);
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static Button buttonSL(hexapod::MOVEMENT_SHIFTLEFT, "ShiftLeft", 0, 4, 1, 1, RC_BLUE);
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static Button buttonSR(hexapod::MOVEMENT_SHIFTRIGHT, "ShiftRight", 2, 4, 1, 1, RC_BLUE);
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static Button buttonClimb(hexapod::MOVEMENT_CLIMB, "Climb", 2, 2, 1, 1, RC_ORANGE);
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static Button buttonRotateX(hexapod::MOVEMENT_ROTATEX, "RotateX", 0, 0, 1, 1, RC_YELLOW);
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static Button buttonRotateY(hexapod::MOVEMENT_ROTATEY, "RotateY", 1, 0, 1, 1, RC_YELLOW);
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static Button buttonRotateZ(hexapod::MOVEMENT_ROTATEZ, "RotateZ", 2, 0, 1, 1, RC_YELLOW);
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static Button buttonTwist(hexapod::MOVEMENT_TWIST, "Twist", 0, 1, 1, 1, RC_YELLOW);
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static ButtonGroup btnGroup;
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static void log_output(const char* log) {
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Serial.println(log);
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}
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void normal_setup(void) {
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LRemote.setName("Hexapod");
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LRemote.setOrientation(RC_PORTRAIT);
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LRemote.setGrid(3, 5);
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LRemote_addControls({
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&buttonForward, &buttonBackward,
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&buttonTL, &buttonTR,
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&buttonSL, &buttonSR,
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&buttonRun, &buttonClimb,
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&buttonRotateX, &buttonRotateY, &buttonRotateZ,
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&buttonTwist,
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});
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btnGroup.addControls({
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&buttonForward, &buttonBackward,
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&buttonTL, &buttonTR,
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&buttonSL, &buttonSR,
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&buttonRun, &buttonClimb,
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&buttonRotateX, &buttonRotateY, &buttonRotateZ,
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&buttonTwist,
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});
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LRemote.begin();
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}
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void normal_loop(void) {
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// check if we are connect by some
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// BLE central device, e.g. an mobile app
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if(!LRemote.connected()) {
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delay(1000-REACT_DELAY);
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}
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auto t0 = millis();
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// Process the incoming BLE write request
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// and translate them to control events
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LRemote.process();
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auto flag = btnGroup.getPressFlag();
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auto mode = hexapod::MOVEMENT_STANDBY;
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for (auto m = hexapod::MOVEMENT_STANDBY; m < hexapod::MOVEMENT_TOTAL; m++) {
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if (flag & (1<<m)) {
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mode = m;
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break;
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}
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}
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hexapod::Hexapod.processMovement(mode, REACT_DELAY);
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auto spent = millis() - t0;
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if(spent < REACT_DELAY) {
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// Serial.println(spent);
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delay(REACT_DELAY-spent);
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}
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else {
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Serial.println(spent);
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}
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} |