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Adding reset command, some define, changing version number #10

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Adding reset command, some define, changing version number #10

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7afce63
Adding reset command
L2Gui Jun 9, 2016
930e892
changing version number to 2.0
L2Gui Jun 9, 2016
53a0b4b
print ok when reset complete
L2Gui Jun 23, 2016
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2 changes: 1 addition & 1 deletion firmware/src/Makefile
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
# Try "make help" first
#
MODEL="metabot2"
VERSION="1.0"
VERSION="2.0"

.DEFAULT_GOAL := sketch

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34 changes: 24 additions & 10 deletions firmware/src/motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,28 +54,28 @@ float motion_get_motor(int idx)
#define AMPLITUDE 30

// Speed factor
TERMINAL_PARAMETER_FLOAT(freq, "Time factor gain", 2.0);
TERMINAL_PARAMETER_FLOAT(freq, "Time factor gain", INIT_FREQ);

// Legs bacakward mode
TERMINAL_PARAMETER_BOOL(backLegs, "Legs backwards", false);
TERMINAL_PARAMETER_BOOL(backLegs, "Legs backwards", INIT_BACKLEGS);

// Amplitude & altitude of the robot
TERMINAL_PARAMETER_FLOAT(alt, "Height of the steps", 15.0);
TERMINAL_PARAMETER_FLOAT(alt, "Height of the steps", INIT_ALT);

// Static position
TERMINAL_PARAMETER_FLOAT(r, "Robot size", 153.0);
TERMINAL_PARAMETER_FLOAT(h, "Robot height", -55.0);
TERMINAL_PARAMETER_FLOAT(r, "Robot size", INIT_R);
TERMINAL_PARAMETER_FLOAT(h, "Robot height", INIT_H);

// Direction vector
TERMINAL_PARAMETER_FLOAT(dx, "Dx", 0.0);
TERMINAL_PARAMETER_FLOAT(dy, "Dy", 0.0);
TERMINAL_PARAMETER_FLOAT(crab, "Crab", 0.0);
TERMINAL_PARAMETER_FLOAT(dx, "Dx", INIT_DX);
TERMINAL_PARAMETER_FLOAT(dy, "Dy", INIT_DY);
TERMINAL_PARAMETER_FLOAT(crab, "Crab", INIT_CRAB);

// Turning, in ° per step
TERMINAL_PARAMETER_FLOAT(turn, "Turn", 0.0);
TERMINAL_PARAMETER_FLOAT(turn, "Turn", INIT_TURN);

// Front delta h
TERMINAL_PARAMETER_FLOAT(frontH, "Front delta H", 0.0);
TERMINAL_PARAMETER_FLOAT(frontH, "Front delta H", INIT_FRONTH);

#ifdef HAS_TERMINAL
TERMINAL_COMMAND(toggleBackLegs, "Toggle back legs")
Expand All @@ -89,6 +89,20 @@ TERMINAL_COMMAND(toggleCrab, "Toggle crab mode")
if (crab == 0) crab = 30;
else if (crab == 30) crab = 0;
}
TERMINAL_COMMAND(reset, "Reset robot's motion parameters"){
motion_init();
freq = INIT_FREQ;
backLegs = INIT_BACKLEGS;
alt = INIT_ALT;
r = INIT_R;
h = INIT_H;
dx = INIT_DX;
dy = INIT_DY;
crab = INIT_CRAB;
turn = INIT_TURN;
frontH = INIT_FRONTH;
terminal_io()->println("OK");
}
#endif

// Gait selector
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11 changes: 11 additions & 0 deletions firmware/src/motion.h
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Original file line number Diff line number Diff line change
@@ -1,6 +1,17 @@
#ifndef _METABOT_MOTION_H
#define _METABOT_MOTION_H

#define INIT_FREQ 2.0
#define INIT_BACKLEGS false
#define INIT_ALT 15.0
#define INIT_R 153.0
#define INIT_H -55.0
#define INIT_DX 0.0
#define INIT_DY 0.0
#define INIT_CRAB 0.0
#define INIT_TURN 0.0
#define INIT_FRONTH 0.0

// Output angles
extern float l1[4], l2[4], l3[4];

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