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Phantom_Phoenix.ino
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Phantom_Phoenix.ino
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// Warning setup to build for standard hexapod, octopod, or for quad.
// #define QUADMODE
// #define HEXMODE
// #define OCTOMODE
// #define DISPLAY_GAIT_NAMES
//=============================================================================
//Project Lynxmotion Phoenix
//Description: Phoenix software
//Software version: V2.0
//Date: 29-10-2009
//Programmer: Jeroen Janssen [aka Xan]
// Kurt Eckhardt(KurtE) converted to C and Arduino
// Kåre Halvorsen aka Zenta - Makes everything work correctly!
//
// This version of the Phoenix code was ported over to the Arduino Environement
// and is specifically configured for the Arbotix Robocontroller board
//
//=============================================================================
// Warning:: This configuration does not check voltages, so you should be careful to
// not allow the lipo to discharge too far.
//
// This configuration should hopefully run on a stock PhantomX, without any
// of my changes.
//
//KNOWN BUGS:
// - Lots ;)
//
//=============================================================================
// Header Files
//=============================================================================
#define DEFINE_HEX_GLOBALS
#include <Arduino.h>
#include <EEPROM.h>
#include <avr/pgmspace.h>
#ifdef QUADMODE
#include "Quad_Cfg.h"
#elif defined(OCTOMODE)
#include "Octo_Cfg.h"
#else
#define HEXMODE // default to hex mode
#include "Hex_Cfg.h"
#endif
#include <ax12.h>
#include "_Phoenix.h"
#ifdef QUADMODE
#define ADD_GAITS
#define PYPOSE_GAIT_SPEED 1 //98
// Speed, Steps, Lifted, Front Down, Lifted Factor, Half Height, On Ground,
// Quad extra: COGAngleStart, COGAngleStep, CogRadius, COGCCW
// { RR, RF, LR, LF}
PHOENIXGAIT APG_EXTRA[] = {
{PYPOSE_GAIT_SPEED, 8, 2, 1, 2, 6, 1, 0, 0,0, true, {7, 1, 3, 5}}, // ripple
{PYPOSE_GAIT_SPEED, 12, 2, 1, 2, 10, 1, 0, 0,0, true, {7, 1, 4, 10}}, // ripple
{PYPOSE_GAIT_SPEED, 4, 2, 1, 2, 2, 1, 0, 0, 0, true,{3, 1, 1, 3}}, // Amble
{PYPOSE_GAIT_SPEED, 6, 3, 2, 2, 3, 2, 0, 0,0, true, {1, 4, 4, 1}} }; // Smooth Amble
#endif
#include "_Phoenix_Input_Commander.h"
#include "_Phoenix_Driver_AX12.h"
#include "_Phoenix_Code.h"