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minikame.cpp
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#include "minikame.h"
void MiniKame::init()
{
just_relax();
}
void MiniKame::stop_work()
{
this->frontLeftLeg->stop_work();
this->frontRightLeg->stop_work();
this->backLeftLeg->stop_work();
this->backRightLeg->stop_work();
}
void MiniKame::pulse()
{
this->frontLeftLeg->pulse();
this->frontRightLeg->pulse();
this->backLeftLeg->pulse();
this->backRightLeg->pulse();
}
void MiniKame::just_relax()
{
this->frontLeftLeg->relax();
this->frontRightLeg->relax();
this->backLeftLeg->relax();
this->backRightLeg->relax();
}
void MiniKame::just_walk()
{
this->frontLeftLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
this->frontRightLeg->walk(Gaits::steadyGait(180, Gait::FORWARD));
this->backLeftLeg->walk(Gaits::steadyGait(180, Gait::FORWARD));
this->backRightLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
}
void MiniKame::just_strafe_left()
{
Gait frontLeftGait = Gaits::steadyGait(0, Gait::BACKWARD);
frontLeftGait.position.spread = 60;
this->frontLeftLeg->walk(frontLeftGait);
Gait frontRightGait = Gaits::steadyGait(180, Gait::FORWARD);
frontRightGait.position.spread = 60;
this->frontRightLeg->walk(frontRightGait);
Gait backLeftGait = Gaits::steadyGait(180, Gait::FORWARD);
backLeftGait.position.spread = -50;
this->backLeftLeg->walk(backLeftGait);
Gait backRightGait = Gaits::steadyGait(0, Gait::BACKWARD);
backRightGait.position.spread = -50;
this->backRightLeg->walk(backRightGait);
}
void MiniKame::just_strafe_right()
{
Gait frontLeftGait = Gaits::steadyGait(0, Gait::FORWARD);
frontLeftGait.position.spread = 60;
this->frontLeftLeg->walk(frontLeftGait);
Gait frontRightGait = Gaits::steadyGait(180, Gait::BACKWARD);
frontRightGait.position.spread = 60;
this->frontRightLeg->walk(frontRightGait);
Gait backLeftGait = Gaits::steadyGait(180, Gait::BACKWARD);
backLeftGait.position.spread = -50;
this->backLeftLeg->walk(backLeftGait);
Gait backRightGait = Gaits::steadyGait(0, Gait::FORWARD);
backRightGait.position.spread = -50;
this->backRightLeg->walk(backRightGait);
}
void MiniKame::just_back()
{
this->frontLeftLeg->walk(Gaits::steadyGait(0, Gait::BACKWARD));
this->frontRightLeg->walk(Gaits::steadyGait(180, Gait::BACKWARD));
this->backLeftLeg->walk(Gaits::steadyGait(180, Gait::BACKWARD));
this->backRightLeg->walk(Gaits::steadyGait(0, Gait::BACKWARD));
}
void MiniKame::just_dance()
{
this->frontLeftLeg->walk(Gaits::steadyGait(0, Gait::BACKWARD));
this->frontRightLeg->walk(Gaits::steadyGait(180, Gait::FORWARD));
this->backLeftLeg->walk(Gaits::steadyGait(0, Gait::BACKWARD));
this->backRightLeg->walk(Gaits::steadyGait(180, Gait::FORWARD));
}
void MiniKame::just_left()
{
this->frontLeftLeg->walk(Gaits::steadyGait(180, Gait::BACKWARD));
this->frontRightLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
this->backLeftLeg->walk(Gaits::steadyGait(0, Gait::BACKWARD));
this->backRightLeg->walk(Gaits::steadyGait(180, Gait::FORWARD));
}
void MiniKame::just_right()
{
this->frontLeftLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
this->frontRightLeg->walk(Gaits::steadyGait(180, Gait::BACKWARD));
this->backLeftLeg->walk(Gaits::steadyGait(180, Gait::FORWARD));
this->backRightLeg->walk(Gaits::steadyGait(0, Gait::BACKWARD));
}
void MiniKame::just_upLeft()
{
this->frontLeftLeg->walk(Gaits::steadyShortGait(0, Gait::FORWARD));
this->frontRightLeg->walk(Gaits::steadyGait(180, Gait::FORWARD));
this->backLeftLeg->walk(Gaits::steadyShortGait(180, Gait::FORWARD));
this->backRightLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
}
void MiniKame::just_upRight()
{
this->frontLeftLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
this->frontRightLeg->walk(Gaits::steadyShortGait(180, Gait::FORWARD));
this->backLeftLeg->walk(Gaits::steadyGait(180, Gait::FORWARD));
this->backRightLeg->walk(Gaits::steadyShortGait(0, Gait::FORWARD));
}
void MiniKame::just_backLeft()
{
this->frontLeftLeg->walk(Gaits::steadyShortGait(0, Gait::BACKWARD));
this->frontRightLeg->walk(Gaits::steadyGait(180, Gait::BACKWARD));
this->backLeftLeg->walk(Gaits::steadyShortGait(180, Gait::BACKWARD));
this->backRightLeg->walk(Gaits::steadyGait(0, Gait::BACKWARD));
}
void MiniKame::just_backRight()
{
this->frontLeftLeg->walk(Gaits::steadyGait(0, Gait::BACKWARD));
this->frontRightLeg->walk(Gaits::steadyShortGait(180, Gait::BACKWARD));
this->backLeftLeg->walk(Gaits::steadyGait(180, Gait::BACKWARD));
this->backRightLeg->walk(Gaits::steadyShortGait(0, Gait::BACKWARD));
}
void MiniKame::just_jiggle()
{
this->frontLeftLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
this->frontRightLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
this->backLeftLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
this->backRightLeg->walk(Gaits::steadyGait(0, Gait::FORWARD));
}
void MiniKame::just_confused()
{
Pair shrug = {0, 60};
this->frontLeftLeg->flex(200, 15, 0, shrug);
this->frontRightLeg->flex(200, 15, 0, shrug);
this->backLeftLeg->flex(200, 15, 0, shrug);
this->backRightLeg->flex(200, 15, 0, shrug);
};
void MiniKame::just_pushUps()
{
this->frontLeftLeg->flex(1400, 65, 0, {-10, -30});
this->frontRightLeg->flex(1400, 65, 0, {-10, -30});
this->backLeftLeg->pose(-90, -30); // 90 is a bit too much, check after recalibration.
this->backRightLeg->pose(-90, -30);
}
void MiniKame::just_moonwalk() {
Pair front_position = {-20, 30};
Pair back_position = {20, 30};
this->frontLeftLeg->flex(2000, 45, 0, front_position);
this->frontRightLeg->flex(2000, 45, 120, front_position);
this->backLeftLeg->flex(2000, 45, 0, back_position);
this->backRightLeg->flex(2000, 45, 120, back_position);
}
void MiniKame::just_stretch() {
Pair position = {0, -20};
this->frontLeftLeg->flex(2000, 45, 0, position);
this->frontRightLeg->flex(2000, 45, 120, position);
this->backLeftLeg->flex(2000, 45, 180, position);
this->backRightLeg->flex(2000, 45, 290, position);
}
void MiniKame::just_say_hi() {
this->frontLeftLeg->pose(50, -40);
this->backLeftLeg->pose(-50, 50);
this->backRightLeg->pose(20, -25);
this->frontRightLeg->flex(300, 30, 0, {60, 60});
}
void MiniKame::just_pack() {
this->frontLeftLeg->pose(90, -90);
this->frontRightLeg->pose(90, -90);
this->backLeftLeg->pose(-90, -90);
this->backRightLeg->pose(-90, -90);
}
void MiniKame::magic() {
// strafe
Gait frontLeftGait = Gaits::steadyGait(0, Gait::FORWARD);
frontLeftGait.position.spread = 60;
this->frontLeftLeg->walk(frontLeftGait);
Gait frontRightGait = Gaits::steadyGait(180, Gait::BACKWARD);
frontRightGait.position.spread = 60;
this->frontRightLeg->walk(frontRightGait);
Gait backLeftGait = Gaits::steadyGait(180, Gait::BACKWARD);
backLeftGait.position.spread = -50;
this->backLeftLeg->walk(backLeftGait);
Gait backRightGait = Gaits::steadyGait(0, Gait::FORWARD);
backRightGait.position.spread = -50;
this->backRightLeg->walk(backRightGait);
}
MiniKame::~MiniKame()
{
delete this->frontLeftLeg;
delete this->frontRightLeg;
delete this->backLeftLeg;
delete this->backRightLeg;
}