-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathHexapod.ino
163 lines (151 loc) · 6 KB
/
Hexapod.ino
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
//const char checkPosition1[] = "{#004P0600T0300!#007P0600T0300!#016P0600T0300!}";
//const char initialPosition1[] = "{#003P1500T0300!#004P1050T0300!#005P0650T0300!#006P0775T0300!#007P1125T0300!#008P1500T0300!#015P1500T0300!#016P1050T0300!#017P0650T0300!}";
//const char checkPosition2[] = "{#001P0600T0300!#010P0600T0300!#013P0600T0300!}";
//const char initialPosition2[] = "{#000P0650T0300!#001P1050T0300!#002P1500T0300!#009P1500T0300!#010P1125T0300!#011P0775T0300!#012P0650T0300!#013P1050T0300!#014P1500T0300!}";
const char initialPosition[] = "{#003P1500T0300!#004P1050T0300!#005P0650T0300!#006P0775T0300!#007P1125T0300!#008P1500T0300!#015P1500T0300!#016P1050T0300!#017P0650T0300!#000P0650T0300!#001P1050T0300!#002P1500T0300!#009P1500T0300!#010P1125T0300!#011P0775T0300!#012P0650T0300!#013P1050T0300!#014P1500T0300!}";
//String joystickStatus;
//String button;
//int Joystick[4];
//char text;
//bool flag;
//bool continual = false;
void setup() {
Serial.begin(115200);
Serial1.begin(115200);
Serial2.begin(115200);
}
void loop() {
// joystickStatus = "";
// flag == false;
// while (Serial.read() >= 0);
// while (Serial1.available()) {
// text = char(Serial1.read());
// if (text == '#') {
// flag = true;
// continue;
// }
// if (flag == true) {
// if (text == '!') {
// break;
// }
// joystickStatus += text;
// }
// delay(1);
// }
// if (19 >= joystickStatus.length() || joystickStatus.length() >= 26) {
// joystickStatus = "";
// }
// if (joystickStatus != "") {
// Serial.println(joystickStatus);
// int i = -1;
// String temp;
// for (int j = 3; j < joystickStatus.length(); j++) {
// text = joystickStatus.charAt(j);
// if (text != ' ') {
// temp += text;
// } else {
// if (i == -1) {
// button = temp;
// } else {
// Joystick[i] = temp.toInt();
// }
// i++;
// temp = "";
// }
// }
// }
// Serial.println(button);
// Serial.println(Joystick[0]);
// Serial.println(Joystick[1]);
// Serial.println(Joystick[2]);
// Serial.println(Joystick[3]);
// if (button == "UP") {
// forward();
// } else if (button == "DOWN") {
// backward();
// } else if (button == "RIGHT") {
// if (continual == false) {
// Serial2.println("{#000P0500T0300!#005P0500T0300!#006P0500T0300!#011P0500T0300!#012P0500T0300!#017P0500T0300!}");
// }
// continual = true;
// clockwise();
// } else if (button == "LEFT") {
// if (continual == false) {
// Serial2.println("{#000P0500T0300!#005P0500T0300!#006P0500T0300!#011P0500T0300!#012P0500T0300!#017P0500T0300!}");
// }
// continual = true;
// counterClockwise();
// } else {
// continual = false;
// check();
// }
check();
delay(2000);
for(int i=0;i<6;i++){
forward();
}
check();
delay(300);
Serial2.println("{#000P0500T0300!#005P0500T0300!#006P0500T0300!#011P0500T0300!#012P0500T0300!#017P0500T0300!}");
for(int i=0;i<6;i++){
clockwise();
}
check();
delay(300);
Serial2.println("{#000P0500T0300!#005P0500T0300!#006P0500T0300!#011P0500T0300!#012P0500T0300!#017P0500T0300!}");
for(int i=0;i<6;i++){
counterClockwise();
}
check();
delay(9999999999999999999999);
}
void check() {
//Serial2.println(checkPosition1);
//delay(300);
Serial2.println(initialPosition);
//delay(300);
//Serial2.println(checkPosition2);
//delay(300);
//Serial2.println(initialPosition2);
//delay(300);
}
void forward() {
Serial2.println("{#004P0600T0300!#007P0600T0300!#016P0600T0300!#001P1000T0300!#010P1000T0300!#013P1050T0300!#006P0500T0300!#011P0500T0300!}");
delay(300);
Serial2.println("{#003P1000T0300!#008P1675T0300!#015P1500T0300!#002P1500T0300!#009P1675T0300!#014P1000T0300!#001P1050T0300!#013P1000T0300!#000P0650T0300!#012P0500T0300!#005P0500T0300!#017P0650T0300!}");
delay(300);
Serial2.println("{#001P0600T0300!#010P0600T0300!#013P0600T0300!#004P1000T0300!#007P1000T0300!#016P1050T0300!#006P0500T0300!#011P0500T0300!}");
delay(300);
Serial2.println("{#002P2000T0300!#009P1325T0300!#014P1500T0300!#003P1500T0300!#008P1325T0300!#015P2000T0300!#004P1050T0300!#016P1000T0300!#005P0650T0300!#017P0500T0300!#000P0500T0300!#012P0650T0300!}");
delay(300);
}
void backward() {
Serial2.println("{#013P0600T0300!#010P0600T0300!#001P0600T0300!#016P1000T0300!#007P1000T0300!#004P1050T0300!#011P0500T0300!#006P0500T0300!}");
delay(300);
Serial2.println("{#014P1000T0300!#009P1675T0300!#002P1500T0300!#015P1500T0300!#008P1675T0300!#003P1000T0300!#016P1050T0300!#004P1000T0300!#017P0650T0300!#005P0500T0300!#012P0500T0300!#000P0650T0300!}");
delay(300);
Serial2.println("{#016P0600T0300!#007P0600T0300!#004P0600T0300!#013P1000T0300!#010P1000T0300!#001P1050T0300!#011P0500T0300!#006P0500T0300!}");
delay(300);
Serial2.println("{#015P2000T0300!#008P1325T0300!#003P1500T0300!#014P1500T0300!#009P1325T0300!#002P2000T0300!#013P1050T0300!#001P1000T0300!#012P0650T0300!#000P0500T0300!#017P0500T0300!#005P0650T0300!}");
delay(300);
}
void clockwise() {
Serial2.println("{#001P0600T0300!#010P0600T0300!#013P0600T0300!#004P1050T0300!#007P1125T0300!#016P1050T0300!}");
delay(300);
Serial2.println("{#002P2000T0300!#009P1675T0300!#014P1500T0300!#003P1000T0300!#008P1325T0300!#015P1500T0300!}");
delay(300);
Serial2.println("{#001P1050T0300!#010P1125T0300!#013P1050T0300!#004P0600T0300!#007P0600T0300!#016P0600T0300!}");
delay(300);
Serial2.println("{#002P1500T0300!#009P1325T0300!#014P1000T0300!#003P1500T0300!#008P1675T0300!#015P2000T0300!}");
delay(300);
}
void counterClockwise() {
Serial2.println("{#001P1050T0300!#010P1125T0300!#013P1050T0300!#004P0600T0300!#007P0600T0300!#016P0600T0300!}");
delay(300);
Serial2.println("{#002P2000T0300!#009P1675T0300!#014P1500T0300!#003P1000T0300!#008P1325T0300!#015P1500T0300!}");
delay(300);
Serial2.println("{#001P0600T0300!#010P0600T0300!#013P0600T0300!#004P1050T0300!#007P1125T0300!#016P1050T0300!}");
delay(300);
Serial2.println("{#002P1500T0300!#009P1325T0300!#014P1000T0300!#003P1500T0300!#008P1675T0300!#015P2000T0300!}");
delay(300);
}