Nix Robot

1#ifndef NIX_ROBOT_H
2#define NIX_ROBOT_H
3
4#include <Arduino.h>
5#include <LX16A-bus.h>
6
7enum class Cmd {
8    pause,
9    homing,
10    all,
11    leftLeg,
12    rightLeg,
13    straight,
14    tiltLeft,
15    tiltRight,
16};
17
18struct Command {
19  Cmd cmd;
20  float* angles;
21  uint16_t duration;
22};
23
24class NixRobot {
25public:
26  NixRobot(HardwareSerial& serial, unsigned long baud = 115200);
27  void homing(uint16_t duration = 1500);
28  void homing(float* angles, uint16_t duration = 1500);
29  void moveAllServos(float* angles, uint16_t duration = 0);
30  void moveLeftLeg(float* angles, uint16_t duration = 0);
31  void moveRightLeg(float* angles, uint16_t duration = 0);
32  void straight(uint16_t duration = 0);
33  void tiltLeft(uint16_t duration = 0);
34  void tiltRight(uint16_t duration = 0);
35  void enableTorque();
36  void disableTorque();
37  bool isTorqueOn();
38  bool isRunning();
39  void runCommand(const Command& c);
40
41  LX16A broadcaster;
42  LX16A ankleLeft;
43  LX16A kneeLeft;
44  LX16A hipLowLeft;
45  LX16A hipHighLeft;
46  LX16A ankleRight;
47  LX16A kneeRight;
48  LX16A hipLowRight;
49  LX16A hipHighRight;
50
51private:
52  HardwareSerial* serialx;
53  LX16A* motors[8];
54  bool running = false;
55  bool torqueOn = false;
56  unsigned long ms = 0;
57  unsigned long lastDuration = 0;
58  void initiateMove(uint16_t duration);
59};
60
61#endif