Firmware for 16-DOF Humanoid

Firmware for Humanoid robot. Can be extended to work with any n-DOF robot by editing configs.hpp.

Some notes

• Commands are sent serially on COMMAND_SERIAL (defined in configs.hpp)
• Commands are terminated by a newline(\n), return character(\r) or semicolon(;)
• Motions are saved as animation arrays, in configs.hpp
• In a ANIM_*_STEPS, a queue is maintained for every servo, and all joint queues run parallely.

Command	Syntax	Description
	Move Joint
M1	M1 i	i = joint_number (1-17)
M2	M2 i a	a = angle in degrees*10
M3	M3 i a t	t = animation time, in millis
	Play animation
P1	P1 i	i = animation number
	Queue animation
Q1	Q1 i	i = animation number
	Move servo by us (microseconds)
U1	U1 i	i = joint_number (1-17)
U2	U2 i a	a = angle in degrees*10
U3	U3 i a t	t = animation time, in millis

Adding animation

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Developed by Avinash Thakur