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animations.h
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222 lines (205 loc) · 10.5 KB
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const int numberOfACE = 9; // Number of action code elements
// Servo calibration position
// -------------------------- P02, P03, P05, P15, P07, P08, P11, P16
int servoAct00 [] PROGMEM = { 135, 45, 135, 45, 45, 135, 45, 135 };
// Zero
int servoPrg00step = 1;
int servoPrg00 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 135, 45, 135, 45, 45, 135, 45, 135, 400 }, // zero position
};
// Standby
int servoPrg01step = 2;
int servoPrg01 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 90, 90, 90, 90, 90, 90, 90, 90, 200 }, // servo center point
{ 70, 90, 90, 110, 110, 90, 90, 70, 200 }, // standby
};
// Forward
int servoPrg02step = 11;
int servoPrg02 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // standby
{ 90, 90, 90, 110, 110, 90, 45, 90, 100 }, // leg1,4 up; leg4 fw
{ 70, 90, 90, 110, 110, 90, 45, 70, 100 }, // leg1,4 dn
{ 70, 90, 90, 90, 90, 90, 45, 70, 100 }, // leg2,3 up
{ 70, 45, 135, 90, 90, 90, 90, 70, 100 }, // leg1,4 bk; leg2 fw
{ 70, 45, 135, 110, 110, 90, 90, 70, 100 }, // leg2,3 dn
{ 90, 90, 135, 110, 110, 90, 90, 90, 100 }, // leg1,4 up; leg1 fw
{ 90, 90, 90, 110, 110, 135, 90, 90, 100 }, // leg2,3 bk
{ 70, 90, 90, 110, 110, 135, 90, 70, 100 }, // leg1,4 dn
{ 70, 90, 90, 110, 90, 135, 90, 70, 100 }, // leg3 up
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // leg3 fw dn
};
// Backward
int servoPrg03step = 11;
int servoPrg03 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // standby
{ 90, 45, 90, 110, 110, 90, 90, 90, 100 }, // leg4,1 up; leg1 fw
{ 70, 45, 90, 110, 110, 90, 90, 70, 100 }, // leg4,1 dn
{ 70, 45, 90, 90, 90, 90, 90, 70, 100 }, // leg3,2 up
{ 70, 90, 90, 90, 90, 135, 45, 70, 100 }, // leg4,1 bk; leg3 fw
{ 70, 90, 90, 110, 110, 135, 45, 70, 100 }, // leg3,2 dn
{ 90, 90, 90, 110, 110, 135, 90, 90, 100 }, // leg4,1 up; leg4 fw
{ 90, 90, 135, 110, 110, 90, 90, 90, 100 }, // leg3,1 bk
{ 70, 90, 135, 110, 110, 90, 90, 70, 100 }, // leg4,1 dn
{ 70, 90, 135, 90, 110, 90, 90, 70, 100 }, // leg2 up
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // leg2 fw dn
};
// Move Left
int servoPrg04step = 11;
int servoPrg04 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // standby
{ 70, 90, 45, 90, 90, 90, 90, 70, 100 }, // leg3,2 up; leg2 fw
{ 70, 90, 45, 110, 110, 90, 90, 70, 100 }, // leg3,2 dn
{ 90, 90, 45, 110, 110, 90, 90, 90, 100 }, // leg1,4 up
{ 90, 135, 90, 110, 110, 45, 90, 90, 100 }, // leg3,2 bk; leg1 fw
{ 70, 135, 90, 110, 110, 45, 90, 70, 100 }, // leg1,4 dn
{ 70, 135, 90, 90, 90, 90, 90, 70, 100 }, // leg3,2 up; leg3 fw
{ 70, 90, 90, 90, 90, 90, 135, 70, 100 }, // leg1,4 bk
{ 70, 90, 90, 110, 110, 90, 135, 70, 100 }, // leg3,2 dn
{ 70, 90, 90, 110, 110, 90, 135, 90, 100 }, // leg4 up
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // leg4 fw dn
};
// Move Right
int servoPrg05step = 11;
int servoPrg05 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // standby
{ 70, 90, 90, 90, 90, 45, 90, 70, 100 }, // leg2,3 up; leg3 fw
{ 70, 90, 90, 110, 110, 45, 90, 70, 100 }, // leg2,3 dn
{ 90, 90, 90, 110, 110, 45, 90, 90, 100 }, // leg4,1 up
{ 90, 90, 45, 110, 110, 90, 135, 90, 100 }, // leg2,3 bk; leg4 fw
{ 70, 90, 45, 110, 110, 90, 135, 70, 100 }, // leg4,1 dn
{ 70, 90, 90, 90, 90, 90, 135, 70, 100 }, // leg2,3 up; leg2 fw
{ 70, 135, 90, 90, 90, 90, 90, 70, 100 }, // leg4,1 bk
{ 70, 135, 90, 110, 110, 90, 90, 70, 100 }, // leg2,3 dn
{ 90, 135, 90, 110, 110, 90, 90, 70, 100 }, // leg1 up
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // leg1 fw dn
};
// Turn left
int servoPrg06step = 8;
int servoPrg06 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // standby
{ 90, 90, 90, 110, 110, 90, 90, 90, 100 }, // leg1,4 up
{ 90, 135, 90, 110, 110, 90, 135, 90, 100 }, // leg1,4 turn
{ 70, 135, 90, 110, 110, 90, 135, 70, 100 }, // leg1,4 dn
{ 70, 135, 90, 90, 90, 90, 135, 70, 100 }, // leg2,3 up
{ 70, 135, 135, 90, 90, 135, 135, 70, 100 }, // leg2,3 turn
{ 70, 135, 135, 110, 110, 135, 135, 70, 100 }, // leg2,3 dn
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // leg1,2,3,4 turn
};
// Turn right
int servoPrg07step = 8;
int servoPrg07 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // standby
{ 70, 90, 90, 90, 90, 90, 90, 70, 100 }, // leg2,3 up
{ 70, 90, 45, 90, 90, 45, 90, 70, 100 }, // leg2,3 turn
{ 70, 90, 45, 110, 110, 45, 90, 70, 100 }, // leg2,3 dn
{ 90, 90, 45, 110, 110, 45, 90, 90, 100 }, // leg1,4 up
{ 90, 45, 45, 110, 110, 45, 45, 90, 100 }, // leg1,4 turn
{ 70, 45, 45, 110, 110, 45, 45, 70, 100 }, // leg1,4 dn
{ 70, 90, 90, 110, 110, 90, 90, 70, 100 }, // leg1,2,3,4 turn
};
// Lie
int servoPrg08step = 1;
int servoPrg08 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 110, 90, 90, 70, 70, 90, 90, 110, 500 }, // leg1,4 up
};
// Say Hi
int servoPrg09step = 4;
int servoPrg09 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 120, 90, 90, 110, 60, 90, 90, 70, 200 }, // leg1, 3 down
{ 70, 90, 90, 110, 110, 90, 90, 70, 200 }, // standby
{ 120, 90, 90, 110, 60, 90, 90, 70, 200 }, // leg1, 3 down
{ 70, 90, 90, 110, 110, 90, 90, 70, 200 }, // standby
};
// Fighting
int servoPrg10step = 11;
int servoPrg10 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 120, 90, 90, 110, 60, 90, 90, 70, 200 }, // leg1, 2 down
{ 120, 70, 70, 110, 60, 70, 70, 70, 200 }, // body turn left
{ 120, 110, 110, 110, 60, 110, 110, 70, 200 }, // body turn right
{ 120, 70, 70, 110, 60, 70, 70, 70, 200 }, // body turn left
{ 120, 110, 110, 110, 60, 110, 110, 70, 200 }, // body turn right
{ 70, 90, 90, 70, 110, 90, 90, 110, 200 }, // leg1, 2 up ; leg3, 4 down
{ 70, 70, 70, 70, 110, 70, 70, 110, 200 }, // body turn left
{ 70, 110, 110, 70, 110, 110, 110, 110, 200 }, // body turn right
{ 70, 70, 70, 70, 110, 70, 70, 110, 200 }, // body turn left
{ 70, 110, 110, 70, 110, 110, 110, 110, 200 }, // body turn right
{ 70, 90, 90, 70, 110, 90, 90, 110, 200 } // leg1, 2 up ; leg3, 4 down
};
// Push up
int servoPrg11step = 11;
int servoPrg11 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 90, 90, 110, 110, 90, 90, 70, 300 }, // start
{ 100, 90, 90, 80, 80, 90, 90, 100, 400 }, // down
{ 70, 90, 90, 110, 110, 90, 90, 70, 500 }, // up
{ 100, 90, 90, 80, 80, 90, 90, 100, 600 }, // down
{ 70, 90, 90, 110, 110, 90, 90, 70, 700 }, // up
{ 100, 90, 90, 80, 80, 90, 90, 100, 1300 }, // down
{ 70, 90, 90, 110, 110, 90, 90, 70, 1800 }, // up
{ 135, 90, 90, 45, 45, 90, 90, 135, 200 }, // fast down
{ 70, 90, 90, 45, 60, 90, 90, 135, 500 }, // leg1 up
{ 70, 90, 90, 45, 110, 90, 90, 135, 500 }, // leg2 up
{ 70, 90, 90, 110, 110, 90, 90, 70, 500 } // leg3, leg4 up
};
// Sleep
int servoPrg12step = 2;
int servoPrg12 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 30, 90, 90, 150, 150, 90, 90, 30, 200 }, // leg1,4 dn
{ 30, 45, 135, 150, 150, 135, 45, 30, 200 }, // protect myself
};
// Dancing 1
int servoPrg13step = 10;
int servoPrg13 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 90, 90, 90, 90, 90, 90, 90, 90, 300 }, // leg1,2,3,4 up
{ 50, 90, 90, 90, 90, 90, 90, 90, 300 }, // leg1 dn
{ 90, 90, 90, 130, 90, 90, 90, 90, 300 }, // leg1 up; leg2 dn
{ 90, 90, 90, 90, 90, 90, 90, 50, 300 }, // leg2 up; leg4 dn
{ 90, 90, 90, 90, 130, 90, 90, 90, 300 }, // leg4 up; leg3 dn
{ 50, 90, 90, 90, 90, 90, 90, 90, 300 }, // leg3 up; leg1 dn
{ 90, 90, 90, 130, 90, 90, 90, 90, 300 }, // leg1 up; leg2 dn
{ 90, 90, 90, 90, 90, 90, 90, 50, 300 }, // leg2 up; leg4 dn
{ 90, 90, 90, 90, 130, 90, 90, 90, 300 }, // leg4 up; leg3 dn
{ 90, 90, 90, 90, 90, 90, 90, 90, 300 }, // leg3 up
};
// Dancing 2
int servoPrg14step = 9;
int servoPrg14 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 45, 135, 110, 110, 135, 45, 70, 300 }, // leg1,2,3,4 two sides
{ 115, 45, 135, 65, 110, 135, 45, 70, 300 }, // leg1,2 up
{ 70, 45, 135, 110, 65, 135, 45, 115, 300 }, // leg1,2 dn; leg3,4 up
{ 115, 45, 135, 65, 110, 135, 45, 70, 300 }, // leg3,4 dn; leg1,2 up
{ 70, 45, 135, 110, 65, 135, 45, 115, 300 }, // leg1,2 dn; leg3,4 up
{ 115, 45, 135, 65, 110, 135, 45, 70, 300 }, // leg3,4 dn; leg1,2 up
{ 70, 45, 135, 110, 65, 135, 45, 115, 300 }, // leg1,2 dn; leg3,4 up
{ 115, 45, 135, 65, 110, 135, 45, 70, 300 }, // leg3,4 dn; leg1,2 up
{ 75, 45, 135, 105, 110, 135, 45, 70, 300 }, // leg1,2 dn
};
// Dancing 3
int servoPrg15step = 10;
int servoPrg15 [][numberOfACE] PROGMEM = {
// P02, P03, P05, P15, P07, P08, P11, P16, ms
{ 70, 45, 45, 110, 110, 135, 135, 70, 300 }, // leg1,2,3,4 bk
{ 110, 45, 45, 60, 70, 135, 135, 70, 300 }, // leg1,2,3 up
{ 70, 45, 45, 110, 110, 135, 135, 70, 300 }, // leg1,2,3 dn
{ 110, 45, 45, 110, 70, 135, 135, 120, 300 }, // leg1,3,4 up
{ 70, 45, 45, 110, 110, 135, 135, 70, 300 }, // leg1,3,4 dn
{ 110, 45, 45, 60, 70, 135, 135, 70, 300 }, // leg1,2,3 up
{ 70, 45, 45, 110, 110, 135, 135, 70, 300 }, // leg1,2,3 dn
{ 110, 45, 45, 110, 70, 135, 135, 120, 300 }, // leg1,3,4 up
{ 70, 45, 45, 110, 110, 135, 135, 70, 300 }, // leg1,3,4 dn
{ 70, 90, 90, 110, 110, 90, 90, 70, 300 }, // standby
};