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-rw-r--r--SnakeMaster.pde104
1 files changed, 0 insertions, 104 deletions
diff --git a/SnakeMaster.pde b/SnakeMaster.pde
deleted file mode 100644
index ae29b5d..0000000
--- a/SnakeMaster.pde
+++ /dev/null
@@ -1,104 +0,0 @@
-#include <TimedAction.h>
-
-
-
-TimedAction regulateServos = TimedAction(2,regulator);
-
-/*
-Snake Sections Snake Servos
-
-Head
-Section 1 Servo 1
- Servo 2
-Section 2 Servo 3
- Servo 4
-Section 3 Servo 5 - On Slave Board One
- Servo 6 - On Slave Board Two
-*/
-
-Servo servo1; int servo1RequiredAngle;
-Servo servo2; int servo2RequiredAngle;
-Servo servo3; int servo3RequiredAngle;
-Servo servo4; int servo4RequiredAngle;
-
-#define servoSpeed = 60/0.4
-int sectionLength = 10; // Length of snake section in centimeters
-int firstServoInSectionInX = true // Assuming the first servo in each section is in the horizontal plane
-
-void moveServoTo(byte servoNum, int angle) {
- switch (servoNum) {
- case 1:
- servo1.write(angle);
- servo1.
- break:
- case 2:
- servo2.write(angle);
- break:
-}
-
-/*
- - servo The servo to be moved
- - smoothMovement Use smooth movement?
- - angle The angle to move the servo to 90 = centre
- - time The time to spend moving in milliseconds
-*/
-void moveServoTo(byte servoNum, boolean smoothMovement, int angle, int time) {
- int startPos = servo.read();
- int moveAngle = abs(angle - startPos);
- int delayAmount = time - (abs(angle - startPos)/ servoSpeed); // The time the servo must waste if it is to get to the angle on time
- // WARNING, if this is negitive the servo cant make the movement in time
-
- if (delayAmount <= 0) { // If cant make the movement just try anyway, else move in increments of 1 degree while taking breaks
- moveServoTo(servoNum,angle);
- } else if (smoothMovement) {
- // TODO
- } else {
- int wasteTimePerDegree = moveAngle/delayAmount;
- if (angle > startPos) {
- for (int i=0; i<moveAngle; i++) {
- moveServoTo(servoNum,(startPos + i));
- delay(1/servoSpeed); // Wait for the time taken to move one degree
- delay(wasteTimePerDegree);
- }
- } else {
- for (int i=0; i<moveAngle; i++) {
- moveServoTo(servoNum,(startPos - i));
- delay(1/servoSpeed); // Wait for the time taken to move one degree
- delay(wasteTimePerDegree);
- }
- }
- }
-}
-
-void moveSectionTo(byte sectionNum, int xAngle, int yAngle, int time) {
- moveServoTo((sectionNum*2)-1,false,xAngle,time);
- moveServoTo((sectionNum*2),false,yAngle,time);
-}
-
-/*
- - xArcRad
-
-*/
-void snakeArc(byte firstSectionNum, byte lastSectionNum, int xArcRadius, int yArcRadius, int time) {
- snakeBend(firstSectionNum,lastSectionNum, ((lastSectionNum-firstSectionNum)*sectionLength)/xArcRadius, ((lastSectionNum-firstSectionNum)*sectionLength)/yArcRadius, time)
-}
-
-/*
- - xArcRad
-
-*/
-void snakeBend(byte firstSectionNum, byte lastSectionNum, int xAngle, int yAngle, int time) {
- int xAnglePerSection = xAngle/(lastSectionNum - firstSectionNum);
- int yAnglePerSection = yAngle/(lastSectionNum - firstSectionNum);
-
- for (int i=firstSectionNum; i<=lastSectionNum; i++) {
- moveSectionTo(i,xAnglePerSection,yAnglePerSection, time)
- }
-
-}
-
-void regulator() {
-
-
-}
-