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spider_movements.ino
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spider_movements.ino
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void revert(){ //Pulls the body to the correct position
d1.setPWM(0,0,angleToPulse(90));
L1_stat=false;
d2.setPWM(0,0,angleToPulse(90));
L2_stat=false;
d1.setPWM(4,0,angleToPulse(90));
d2.setPWM(4,0,angleToPulse(90));
d1.setPWM(8,0,angleToPulse(90));
L5_stat=false;
d2.setPWM(8,0,angleToPulse(90));
L6_stat=false;
}
void position_legs(){ //Positions the legs 1,2,5 and 6 by lifting and placing
if(!L1_stat){
d1.setPWM(1,0,angleToPulse(45)); //Lift leg 1
d1.setPWM(0,0,angleToPulse(L1_angle)); //Position leg 1
d1.setPWM(1,0,angleToPulse(legPlacementAngle)); //Place leg 1
L1_stat=true;
}
delay(100);
if(!L2_stat){
d2.setPWM(1,0,angleToPulse(135)); //Lift leg 2
d2.setPWM(0,0,angleToPulse(L2_angle)); //Position leg 2
d2.setPWM(1,0,angleToPulse(180-legPlacementAngle)); //Place leg 2
L2_stat=true;
}
delay(100);
if(!L5_stat){
d1.setPWM(9,0,angleToPulse(45)); //Lift leg 5
delay(50);
d1.setPWM(8,0,angleToPulse(L5_angle)); //Position leg 5
delay(100);
d1.setPWM(9,0,angleToPulse(legPlacementAngle)); //Place leg 5
delay(10);
L5_stat=true;
}
if(!L6_stat){
d2.setPWM(9,0,angleToPulse(135)); //Lift leg 6
d2.setPWM(8,0,angleToPulse(L6_angle)); //Position leg 6
d2.setPWM(9,0,angleToPulse(180-legPlacementAngle)); //Place leg 6
L6_stat=true;
}
delay(100);
}
void moveForward(){
lcd.clear();
unblink();
printLCD("FORWARD",1,3);
mov_set1(1);
delay(100);
mov_set2(1);
delay(100);
revert();
delay(100);
}
void moveBackward(){
lcd.clear();
unblink();
printLCD("REVERSE",1,3);
mov_set1(2);
delay(100);
mov_set2(2);
delay(100);
revert();
delay(100);
}
void turnLeft(){
lcd.clear();
unblink();
printLCD("Turning",1,2);
printLCD("LEFT",2,3);
mov_set1(3);
delay(100);
mov_set2(3);
delay(100);
revert();
delay(100);
}
void turnRight(){
lcd.clear();
unblink();
printLCD("Turning",1,2);
printLCD("RIGHT",2,3);
mov_set1(4);
delay(100);
mov_set2(4);
delay(100);
revert();
delay(100);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////
void mov_set1(int mode){
if(mode==1){//Forward
if(!L1_stat){//If L1 is not in default position.
d1.setPWM(1, 0, angleToPulse(45) );//Lift leg 1
}
d2.setPWM(5, 0, angleToPulse(135) ); //Lift leg 4
d1.setPWM(9, 0, angleToPulse(45) ); //Lift leg 5
delay(500);
d1.setPWM(0, 0, angleToPulse(90+STEPLENGTH) );//Turn leg 1
d2.setPWM(4, 0, angleToPulse(90-STEPLENGTH) );//Turn leg 4
d1.setPWM(8, 0, angleToPulse(90+STEPLENGTH) );//Turn leg 5
delay(500);
d1.setPWM(2, 0, angleToPulse(80) );//turn feet 1
d2.setPWM(6, 0, angleToPulse(100) );//turn feet 4
d1.setPWM(10, 0, angleToPulse(80) );//turn feet 5
delay(500);
d1.setPWM(1, 0, angleToPulse(legPlacementAngle) );//Keep leg 1
d2.setPWM(5, 0, angleToPulse(180-legPlacementAngle) );//Keep leg 4
d1.setPWM(9, 0, angleToPulse(legPlacementAngle) );//Keep leg 5
delay(500);
}
if(mode==2){//Reverse
d1.setPWM(1, 0, angleToPulse(45) ); //Lift leg 1
d2.setPWM(5, 0, angleToPulse(135) ); //Lift leg 4
if(!L5_stat){//If L5 is not in default position.
d1.setPWM(9, 0, angleToPulse(45) );//Lift leg 5
}
delay(500);
d1.setPWM(0, 0, angleToPulse(90-STEPLENGTH) ); //Turn leg 1
d2.setPWM(4
, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 4
d1.setPWM(8, 0, angleToPulse(90-STEPLENGTH) ); //Turn leg 5
delay(500);
d1.setPWM(1, 0, angleToPulse(legPlacementAngle) ); //Place leg 1
d2.setPWM(5, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 4
d1.setPWM(9, 0, angleToPulse(legPlacementAngle) ); //Place leg 5
delay(500);
}
if(mode==3){//Turn Left
d1.setPWM(1, 0, angleToPulse(45) ); //Lift leg 1
d2.setPWM(5, 0, angleToPulse(135) ); //Lift leg 4
if(!L5_stat){ //If L5 is not in default position.
d1.setPWM(9, 0, angleToPulse(45) ); //Lift leg 5
}
delay(500);
d1.setPWM(0, 0, angleToPulse(90-STEPLENGTH) );//Turn leg 1
d2.setPWM(4, 0, angleToPulse(90-STEPLENGTH) ); //Turn leg 4
d1.setPWM(8, 0, angleToPulse(90-STEPLENGTH) );//Turn leg 5
delay(500);
d1.setPWM(1, 0, angleToPulse(legPlacementAngle) );//Place leg 1
d2.setPWM(5, 0, angleToPulse(180-legPlacementAngle) );//Place leg 4
d1.setPWM(9, 0, angleToPulse(legPlacementAngle) );//Place leg 5
delay(500);
}
if(mode==4){//Turn Right
if(!L1_stat){ //If L1 is not in default position.
d1.setPWM(1, 0, angleToPulse(45) ); //Lift leg 1
}
d2.setPWM(5, 0, angleToPulse(135) ); //Lift leg 4
d1.setPWM(9, 0, angleToPulse(45) ); //Lift leg 5
delay(500);
d1.setPWM(0, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 1
d2.setPWM(4, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 4
d1.setPWM(8, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 5
delay(500);
d1.setPWM(1, 0, angleToPulse(legPlacementAngle) ); //Place leg 1
d2.setPWM(5, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 4
d1.setPWM(9, 0, angleToPulse(legPlacementAngle) ); //Place leg 5
delay(500);
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
void mov_set2(int mode){
if(mode==1){//Forward
if(!L2_stat){ //If L2 is not in default position.
d2.setPWM(1, 0, angleToPulse(135) ); //Lift leg 2
}
d1.setPWM(5, 0, angleToPulse(45) ); //Lift leg 3
d2.setPWM(9, 0, angleToPulse(135) ); //Lift leg 6
delay(500);
d2.setPWM(0, 0, angleToPulse(90-STEPLENGTH) ); //Turn leg 2
d1.setPWM(4, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 3
d2.setPWM(8, 0, angleToPulse(90-STEPLENGTH) ); //Turn leg 6
delay(500);
d2.setPWM(1, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 2
d1.setPWM(5, 0, angleToPulse(legPlacementAngle) ); //Place leg 3
d2.setPWM(9, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 6
delay(500);
}
if(mode==2){//Reverse
d2.setPWM(1, 0, angleToPulse(135) ); //Lift leg 2
d1.setPWM(5, 0, angleToPulse(45) ); //Lift leg 3
if(!L6_stat){ //If L6 is not in default position.
d2.setPWM(9, 0, angleToPulse(135) ); //Lift leg 6
}
delay(500);
d2.setPWM(0, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 2
d1.setPWM(4, 0, angleToPulse(90-STEPLENGTH) ); //Turn leg 3
d2.setPWM(8, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 6
delay(500);
d2.setPWM(1, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 2
d1.setPWM(5, 0, angleToPulse(legPlacementAngle) ); //Place leg 3
d2.setPWM(9, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 6
delay(500);
}
if(mode==3){//Turn Left
if(!L2_stat){ //If L2 is not in default position.
d2.setPWM(1, 0, angleToPulse(135) ); //Lift leg 2
}
d1.setPWM(5, 0, angleToPulse(45) ); //Lift leg 3
d2.setPWM(9, 0, angleToPulse(135) ); //Lift leg 6
delay(500);
d2.setPWM(0, 0, angleToPulse(90-STEPLENGTH) ); //Turn leg 2
d1.setPWM(4, 0, angleToPulse(90-STEPLENGTH)); //Turn leg 3
d2.setPWM(8, 0, angleToPulse(90-STEPLENGTH) ); //Turn leg 6
delay(500);
d2.setPWM(1, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 2
d1.setPWM(5, 0, angleToPulse(legPlacementAngle) ); //Place leg 3
d2.setPWM(9, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 6
delay(500);
}
if(mode==4){//Turn Right
d2.setPWM(1, 0, angleToPulse(135) ); //Lift leg 2
d1.setPWM(5, 0, angleToPulse(45) ); //Lift leg 3
if(!L6_stat){ //If L6 is not in default position.
d2.setPWM(9, 0, angleToPulse(135) ); //Lift leg 6
}
delay(500);
d2.setPWM(0, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 2
d1.setPWM(4, 0, angleToPulse(90+STEPLENGTH)); //Turn leg 3
d2.setPWM(8, 0, angleToPulse(90+STEPLENGTH) ); //Turn leg 6
delay(500);
d2.setPWM(1, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 2
d1.setPWM(5, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 3
d2.setPWM(9, 0, angleToPulse(180-legPlacementAngle) ); //Place leg 6
delay(500);
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////