2024-09-11 09:40:46 +00:00
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#ifndef BEHAVIOUR_H_
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#define BEHAVIOUR_H_
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#include "SimplexNoise.h" //Library from https://github.com/jshaw/SimplexNoise
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#include "definitions.h"
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#include "servo.h"
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extern dxl_servo servos[SERVO_COUNT];
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#define SERVO_COUNT_MAIN 3
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#define SERVO_COUNT_PERIPHERAL 3
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#define WEIGHT_COUNT 7 //enter number of weights here for array size
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#define WEIGHT_UPDATE_INTERVAL 100
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#define SERVOWEIGHT_UPDATE_INTERVAL SERVO_UPDATE_INTERVAL
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#define W_PITCH 0
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#define W_ROLL 1
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#define W_NOISE 2
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#define W_NOISESLOW 3
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#define W_SIN 4
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#define W_COS 5
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#define W_LOOKDIRECTION 6
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struct Mood{
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float shakiness;
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float wakefulness;
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float loneliness;
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};
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extern Mood mood;
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2024-09-11 12:19:10 +00:00
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void updateMatrixWeights(unsigned long millis,bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR, float pitch, float roll);
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2024-09-11 09:40:46 +00:00
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void updateServosByWeights(unsigned long millis);
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float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
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#endif
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