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main/boards/lceda-course-examples/eda-robot-pro/eda_dog_movements.h

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+#ifndef __EDA_DOG_MOVEMENTS_H__
+#define __EDA_DOG_MOVEMENTS_H__
+
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "oscillator.h"
+
+//-- Constants
+#define FORWARD 1
+#define BACKWARD -1
+#define LEFT 1
+#define RIGHT -1
+#define SMALL 5
+#define MEDIUM 15
+#define BIG 30
+
+// -- Servo delta limit default. degree / sec
+#define SERVO_LIMIT_DEFAULT 240
+
+// -- Servo indexes for easy access
+#define LEFT_FRONT_LEG 0
+#define LEFT_REAR_LEG 1
+#define RIGHT_FRONT_LEG 2
+#define RIGHT_REAR_LEG 3
+#define SERVO_COUNT 4
+
+class EDARobotDog {
+public:
+    EDARobotDog();
+    ~EDARobotDog();
+
+    //-- EDA Dog initialization
+    void Init(int left_front_leg, int left_rear_leg, int right_front_leg, int right_rear_leg);
+    
+    //-- Attach & detach functions
+    void AttachServos();
+    void DetachServos();
+
+    //-- Oscillator Trims
+    void SetTrims(int left_front_leg, int left_rear_leg, int right_front_leg, int right_rear_leg);
+
+    //-- Predetermined Motion Functions
+    void MoveServos(int time, int servo_target[]);
+    void MoveSingle(int position, int servo_number);
+    void OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
+                         double phase_diff[SERVO_COUNT], float cycle);
+
+    //-- HOME = Dog at rest position
+    void Home();
+    bool GetRestState();
+    void SetRestState(bool state);
+
+    //-- Basic leg movements
+    void LiftLeftFrontLeg(int period = 1000, int height = 45);   // 抬起左前腿
+    void LiftLeftRearLeg(int period = 1000, int height = 45);    // 抬起左后腿
+    void LiftRightFrontLeg(int period = 1000, int height = 45);  // 抬起右前腿
+    void LiftRightRearLeg(int period = 1000, int height = 45);   // 抬起右后腿
+
+    //-- Dog gait movements
+    void GetCurrentPositions(int pos[SERVO_COUNT]);
+    void Walk(float steps = 4, int period = 1000, int dir = FORWARD);
+    void Turn(float steps = 4, int period = 2000, int dir = LEFT);
+    void Sit(int period = 1500);
+    void Stand(int period = 1500);
+    void Stretch(int period = 2000);
+    void Shake(int period = 1000);
+    void Sleep();  // 睡觉动作
+
+    // -- Servo limiter
+    void EnableServoLimit(int speed_limit_degree_per_sec = SERVO_LIMIT_DEFAULT);
+    void DisableServoLimit();
+
+private:
+    Oscillator servo_[SERVO_COUNT];
+
+    int servo_pins_[SERVO_COUNT];
+    int servo_trim_[SERVO_COUNT];
+
+    unsigned long final_time_;
+    unsigned long partial_time_;
+    float increment_[SERVO_COUNT];
+
+    bool is_dog_resting_;
+
+    void Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
+                 double phase_diff[SERVO_COUNT], float steps);
+};
+
+#endif  // __EDA_DOG_MOVEMENTS_H__