53 lines
No EOL
1.6 KiB
C
53 lines
No EOL
1.6 KiB
C
#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 8 //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 MOOD_UPDATE_INTERVAL 1000.0/50
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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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#define W_OFFSET 7
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struct Mood{
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float arousal; //-1.0 to 1.0
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float valence; //-1.0 to 1.0
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};
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extern Mood mood;
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const float behaviour_confortable_lift=0.1; // Meters per seond. heightchange below does not affect mood
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void initBehaviour();
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void updateMood(unsigned long millis,float gyroX,float gyroY,float gyroZ,float maxAccX,float maxAccY,float maxAccZ,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR,float height,float temp_ambient,float temp_object,float pumpspeed, float servoerror);
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void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR, float pitch, float roll);
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void updateServosByWeights(unsigned long millis,float pitch,float roll);
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float interpolateTo(float value,float aimvalue,float timestep,float speed);
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float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
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void printMood();
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void printModes();
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#endif |