From 370c3dce08210c3c953b9b0011628d01a266445a Mon Sep 17 00:00:00 2001
From: Christopher Baines <cbaines8@gmail.com>
Date: Tue, 22 Mar 2011 18:25:12 +0000
Subject: Many chnages, added TODO list, slightly inproved servo handling.
 Still need to determine if speed handling for the servos is possible?

---
 SnakeMaster.pde | 104 --------------------------------------------------------
 1 file changed, 104 deletions(-)
 delete mode 100644 SnakeMaster.pde

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() {
-  
-  
-}
-
-- 
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