forked from xiaozhi/xiaozhi-esp32
7bb12f31f0
* otto v1.4.0 MCP 1.使用MCP协议控制机器人 2.gif继承lcdDisplay，避免修改lcdDisplay * otto v1.4.1 gif as components gif as components * electronBot v1.1.0 mcp 1.增加electronBot支持 2.mcp协议 3.gif 作为组件 4.display子类 * 规范代码 1.规范代码 2.修复切换主题死机bug
105 lines
3.4 KiB
C++
105 lines
3.4 KiB
C++
#ifndef __OTTO_MOVEMENTS_H__
|
|
#define __OTTO_MOVEMENTS_H__
|
|
|
|
#include "driver/gpio.h"
|
|
#include "esp_log.h"
|
|
#include "esp_timer.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "oscillator.h"
|
|
|
|
//-- Constants
|
|
#define FORWARD 1
|
|
#define BACKWARD -1
|
|
#define LEFT 1
|
|
#define RIGHT -1
|
|
#define BOTH 0
|
|
#define SMALL 5
|
|
#define MEDIUM 15
|
|
#define BIG 30
|
|
|
|
// -- Servo delta limit default. degree / sec
|
|
#define SERVO_LIMIT_DEFAULT 240
|
|
|
|
// -- Servo indexes for easy access
|
|
#define LEFT_LEG 0
|
|
#define RIGHT_LEG 1
|
|
#define LEFT_FOOT 2
|
|
#define RIGHT_FOOT 3
|
|
#define LEFT_HAND 4
|
|
#define RIGHT_HAND 5
|
|
#define SERVO_COUNT 6
|
|
|
|
class Otto {
|
|
public:
|
|
Otto();
|
|
~Otto();
|
|
|
|
//-- Otto initialization
|
|
void Init(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand = -1,
|
|
int right_hand = -1);
|
|
//-- Attach & detach functions
|
|
void AttachServos();
|
|
void DetachServos();
|
|
|
|
//-- Oscillator Trims
|
|
void SetTrims(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand = 0,
|
|
int right_hand = 0);
|
|
|
|
//-- Predetermined Motion Functions
|
|
void MoveServos(int time, int servo_target[]);
|
|
void MoveSingle(int position, int servo_number);
|
|
void OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
|
|
double phase_diff[SERVO_COUNT], float cycle);
|
|
|
|
//-- HOME = Otto at rest position
|
|
void Home(bool hands_down = true);
|
|
bool GetRestState();
|
|
void SetRestState(bool state);
|
|
|
|
//-- Predetermined Motion Functions
|
|
void Jump(float steps = 1, int period = 2000);
|
|
|
|
void Walk(float steps = 4, int period = 1000, int dir = FORWARD, int amount = 0);
|
|
void Turn(float steps = 4, int period = 2000, int dir = LEFT, int amount = 0);
|
|
void Bend(int steps = 1, int period = 1400, int dir = LEFT);
|
|
void ShakeLeg(int steps = 1, int period = 2000, int dir = RIGHT);
|
|
|
|
void UpDown(float steps = 1, int period = 1000, int height = 20);
|
|
void Swing(float steps = 1, int period = 1000, int height = 20);
|
|
void TiptoeSwing(float steps = 1, int period = 900, int height = 20);
|
|
void Jitter(float steps = 1, int period = 500, int height = 20);
|
|
void AscendingTurn(float steps = 1, int period = 900, int height = 20);
|
|
|
|
void Moonwalker(float steps = 1, int period = 900, int height = 20, int dir = LEFT);
|
|
void Crusaito(float steps = 1, int period = 900, int height = 20, int dir = FORWARD);
|
|
void Flapping(float steps = 1, int period = 1000, int height = 20, int dir = FORWARD);
|
|
|
|
// -- 手部动作
|
|
void HandsUp(int period = 1000, int dir = 0); // 双手举起
|
|
void HandsDown(int period = 1000, int dir = 0); // 双手放下
|
|
void HandWave(int period = 1000, int dir = LEFT); // 挥手
|
|
void HandWaveBoth(int period = 1000); // 双手同时挥手
|
|
|
|
// -- Servo limiter
|
|
void EnableServoLimit(int speed_limit_degree_per_sec = SERVO_LIMIT_DEFAULT);
|
|
void DisableServoLimit();
|
|
|
|
private:
|
|
Oscillator servo_[SERVO_COUNT];
|
|
|
|
int servo_pins_[SERVO_COUNT];
|
|
int servo_trim_[SERVO_COUNT];
|
|
|
|
unsigned long final_time_;
|
|
unsigned long partial_time_;
|
|
float increment_[SERVO_COUNT];
|
|
|
|
bool is_otto_resting_;
|
|
bool has_hands_; // 是否有手部舵机
|
|
|
|
void Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
|
|
double phase_diff[SERVO_COUNT], float steps);
|
|
};
|
|
|
|
#endif // __OTTO_MOVEMENTS_H__
|