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kusoran.cpp
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/*************************************
* Actions - YamaX Edison Core v1.0
* Motor control block
* made by Nyanyan, coorde Y-modify
* Copyright © 2016 Y-modify All Rights Reserved.
*************************************/
#include <iostream>
#include "posture/physicalio/physicalio.hpp"
#include <unistd.h>
using namespace yamax;
/*****Pulse Adjust*****/
#define SERVOMIN 0.5 //when 0° (ms)
#define SERVOMAX 2.3 //when 180° (ms)
/*****Object Making*****/
servos ss = servos(1, 32, 0x40, SERVOMIN, SERVOMAX); //Bus number 1, 32 servos, address 0x40~
#define servoA 0
#define servoB 27
#define servoC 4
#define servoD 5
#define servoE 26 //9
#define servoF 25 //8
#define servoG 24 //7
#define servoH 22 //6
#define servoI 21 //5
#define servoK 19 //3
#define servoL 20 //4
#define servoM 18 //2
#define servoN 17 //1
#define servoO 16 //0
#define servoQ 6
#define servoR 7
#define servoS 8
#define servoT 9
#define servoU 10
/**standDefinition**/
#define stA 90 //+90 -90
#define stB 50 //+130 -50
#define stC 90 //+90 -90
#define stD 80 //+100 -80
#define stE 100 //+80 -100
#define stF 60 //+120 -60
#define stG 70 //+110 -70
#define stH 65 //+115 -65
#define stI 80 //+100 -80
#define stK 45 //+135 -45
#define stL 110 //+70 -110
#define stM 110 //+70 -110
#define stN 65 //+115 -65
#define stO 85 //+115 -65
#define stQ 100 //+80 -100
#define stR 100 //+80 -100
#define stS 90 //+90 -90
#define stT 65 //+115 -65
#define stU 90 //+90 -90
extern void stand();
extern void bow(int deltime);
extern void foot(int times, int delaytime);
extern void foot1();
extern void foot2();
extern void walk(int times, int delaytime);
extern void walk1();
extern void walk2();
extern void turnright(int times, int delaytime);
extern void turnleft(int times, int delaytime);
extern void turnright1();
extern void turnright2();
extern void turnleft1();
extern void turnleft2();
extern void achilles1();
extern void achilles2();
extern void no(int times);
extern void bye(int times, int dir);
extern void nadenade(int times, bool dir);
extern void dance(int times);
extern void kusoran();
extern void kamae();
extern void waver();
extern void wavel();
extern void amimaki1(int times);
extern void amimaki2();
extern void amimaki3();
extern void Tparty1(int Time);
extern void Tparty2(int Time);
extern void tie(int Time);
extern void dokkoisyor();
extern void dokkoisyol();
extern void soransoran();
extern void tekogi(int times);
extern void haihai();
extern void koshimage(int t);
extern void volt1(int t);
extern void volt2(int t);
extern void human(int Time);
extern void yajiron(int times);
extern void dokkoisyo();
extern void syuwach(int t);
extern void gattsu(int times);
extern void biem(int times);
extern void dosuru(int t);
/*****Initialize Servo Driver*****/
int main(void){
ss.setPWMFreq(50);
kusoran();
while(1);
return 0;
}
/*****Base Functions*****/
void stand()
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB);
ss[servoC].setDegrees(stC);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE);
ss[servoF].setDegrees(stF);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI); //腰
ss[servoK].setDegrees(stK);
ss[servoL].setDegrees(stL); //170
ss[servoM].setDegrees(stM);//170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO); //右足
ss[servoQ].setDegrees(stQ);
ss[servoR].setDegrees(stR); //30
ss[servoS].setDegrees(stS);//30
ss[servoT].setDegrees(stT);
ss[servoU].setDegrees(stU); //左足
}
void bow(int deltime)
{
std::cout << "Bowing " << deltime << "ms" << std::endl;
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB);
ss[servoC].setDegrees(stC);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE);
ss[servoF].setDegrees(stF);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI + 50); //腰
ss[servoK].setDegrees(stK);
ss[servoL].setDegrees(stL - 20); //170
ss[servoM].setDegrees(stM);//170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO); //右足
ss[servoQ].setDegrees(stQ);
ss[servoR].setDegrees(stR + 20); //30
ss[servoS].setDegrees(stS);//30
ss[servoT].setDegrees(stT);
ss[servoU].setDegrees(stU); //左足
usleep((deltime)*1000);
}
void foot(int times, int delaytime)
{
int i = 0;
for (i = 0; i < times; i += 2)
{
foot1();
usleep((delaytime)*1000);
foot2();
usleep((delaytime)*1000);
}
}
void foot1()//左足上げ
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB + 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE + 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH - 40);
ss[servoI].setDegrees(stI-5); //腰
ss[servoK].setDegrees(stK /* - 20*/);
ss[servoL].setDegrees(stL - 10); //170
ss[servoM].setDegrees(stM); //170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO - 10); //右足
ss[servoQ].setDegrees(stQ - 30);
ss[servoR].setDegrees(stR); //10?
ss[servoS].setDegrees(stS); //20?
ss[servoT].setDegrees(stT); //10?
ss[servoU].setDegrees(stU - 30); //左足
}
void foot2()//右足上げ
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB - 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE - 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH + 40);
ss[servoI].setDegrees(stI); //腰
ss[servoK].setDegrees(stK + 30);
ss[servoL].setDegrees(stL); //170
ss[servoM].setDegrees(stM); //170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO + 30); //右足
ss[servoQ].setDegrees(stQ /* + 20*/);
ss[servoR].setDegrees(stR + 10); //30
ss[servoS].setDegrees(stS); //30
ss[servoT].setDegrees(stT);
ss[servoU].setDegrees(stU + 10); //左足
}
/*****Walking*****/
void walk(int times, int delaytime)
{
std::cout << "Walking " << times << " steps with " << delaytime << "ms" << std::endl;
int i = 0;
for (i = 0; i < times; i += 2)
{
foot1();
usleep((delaytime)*1000);
walk1();
usleep((delaytime)*1000);
/* ss[servoU].setDegrees(stU 80); //左足
ss[servoO].setDegrees(stO 65); //右足
// ss[servoH].setDegrees(stH 55);*/
usleep((100)*1000);
foot2();
usleep((delaytime)*1000);
walk2();
usleep((delaytime)*1000);
/* ss[servoU].setDegrees(stU 80); //左足
ss[servoO].setDegrees(stO 65); //右足
// ss[servoH].setDegrees(stH 75);*/
usleep((100)*1000);
}
}
void walk1()//左足を出す
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB + 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE + 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH - 20);
ss[servoI].setDegrees(stI-5); //腰
ss[servoK].setDegrees(stK /* - 15*/);
ss[servoL].setDegrees(stL); //170
ss[servoM].setDegrees(stM); //170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO - 5); //右足
ss[servoQ].setDegrees(stQ - 15);
ss[servoR].setDegrees(stR - 60); //30
ss[servoS].setDegrees(stS - 40); //30
ss[servoT].setDegrees(stT - 0);
ss[servoU].setDegrees(stU - 40); //左足
}
void walk2()//右足を出す
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB - 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE - 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH + 20);
ss[servoI].setDegrees(stI); //腰
ss[servoK].setDegrees(stK + 15);
ss[servoL].setDegrees(stL + 60); //170
ss[servoM].setDegrees(stM + 40); //170
ss[servoN].setDegrees(stN + 0);
ss[servoO].setDegrees(stO + 40); //右足
ss[servoQ].setDegrees(stQ /* + 15*/);
ss[servoR].setDegrees(stR); //30
ss[servoS].setDegrees(stS); //30
ss[servoT].setDegrees(stT);
ss[servoU].setDegrees(stU + 5); //左足
}
/*****回ろう*****/
void turnright(int times, int delaytime)
{
std::cout << "Turning right " << times << " steps with " << delaytime << "ms" << std::endl;
for (int i = 0; i < times; i++)
{
foot1();
//ss[servoI].setDegrees(stI - 20); //腰
// ss[servoO].setDegrees(stO - 20); //右足
usleep((delaytime)*1000);
//turnright1();
walk1();
//ss[servoI].setDegrees(stI - 20); //腰
usleep((delaytime)*1000);
stand();
usleep((delaytime)*1000);
}
}
void turnleft(int times, int delaytime)
{
std::cout << "Turning left " << times << " steps with " << delaytime << "ms" << std::endl;
for (int i = 0; i < times; i++)
{
foot2();
//ss[servoI].setDegrees(stI - 11); //腰
// ss[servoU].setDegrees(stU + 20); //左足
usleep((delaytime)*1000);
//turnleft1();
walk2();
//ss[servoI].setDegrees(stI - 11); //腰
usleep((delaytime)*1000);
stand();
usleep((delaytime)*1000);
}
}
void turnright1()//左足を出す
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB + 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE + 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI - 11); //腰
ss[servoK].setDegrees(stK);
ss[servoL].setDegrees(stL + 10); //170
ss[servoM].setDegrees(stM); //170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO - 10); //右足
ss[servoQ].setDegrees(stQ);
ss[servoR].setDegrees(stR - 60); //30
ss[servoS].setDegrees(stS - 40); //30
ss[servoT].setDegrees(stT - 10);
ss[servoU].setDegrees(stU - 2); //左足
}
void turnright2()
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB - 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE - 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI - 11); //腰
ss[servoK].setDegrees(stK);
ss[servoL].setDegrees(stL + 20); //170
ss[servoM].setDegrees(stM + 10); //170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO + 2); //右足
ss[servoQ].setDegrees(stQ);
ss[servoR].setDegrees(stR - 10); //30
ss[servoS].setDegrees(stS); //30
ss[servoT].setDegrees(stT);
ss[servoU].setDegrees(stU + 10); //左足
}
void turnleft1()//右足を出す
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB - 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE - 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI + 10); //腰
ss[servoK].setDegrees(stK);
ss[servoL].setDegrees(stL + 60); //170
ss[servoM].setDegrees(stM + 40); //170
ss[servoN].setDegrees(stN + 10);
ss[servoO].setDegrees(stO + 2); //右足
ss[servoQ].setDegrees(stQ);
ss[servoR].setDegrees(stR - 10); //30
ss[servoS].setDegrees(stS); //30
ss[servoT].setDegrees(stT);
ss[servoU].setDegrees(stU + 5); //左足
}
void turnleft2()
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB + 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE + 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI + 10); //腰
ss[servoK].setDegrees(stK);
ss[servoL].setDegrees(stL + 10); //170
ss[servoM].setDegrees(stM); //170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO - 5); //右足
ss[servoQ].setDegrees(stQ);
ss[servoR].setDegrees(stR - 20); //30
ss[servoS].setDegrees(stS - 10); //30
ss[servoT].setDegrees(stT);
ss[servoU].setDegrees(stU - 2); //左足
}
void achilles1()
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB + 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE + 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH - 30);
ss[servoI].setDegrees(stI + 40); //腰
ss[servoK].setDegrees(stK);
ss[servoL].setDegrees(stL - 60); //170
ss[servoM].setDegrees(stM - 40); //170
ss[servoN].setDegrees(stN);
ss[servoO].setDegrees(stO); //右足
ss[servoQ].setDegrees(stQ);
ss[servoR].setDegrees(stR - 60); //30
ss[servoS].setDegrees(stS - 40); //30
ss[servoT].setDegrees(stT - 20);
ss[servoU].setDegrees(stU); //左足
}
void achilles2()
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB - 20);
ss[servoC].setDegrees(stC + 20);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE - 20);
ss[servoF].setDegrees(stF - 20);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH + 30);
ss[servoI].setDegrees(stI + 40); //腰
ss[servoK].setDegrees(stK);
ss[servoL].setDegrees(stL + 60); //170
ss[servoM].setDegrees(stM + 40); //170
ss[servoN].setDegrees(stN + 20);
ss[servoO].setDegrees(stO); //右足
ss[servoQ].setDegrees(stQ);
ss[servoR].setDegrees(stR + 60); //30
ss[servoS].setDegrees(stS + 40); //30
ss[servoT].setDegrees(stT);
ss[servoU].setDegrees(stU); //左足
}
/*****首*****/
void no(int times)
{
std::cout << "Denying" << times << " times" << std::endl;
for (int i = 0; i < times; i++)
{
stand();
ss[servoA].setDegrees(stA - 60); //首
usleep((200)*1000);
stand();
ss[servoA].setDegrees(stA + 60); //首
usleep((200)*1000);
}
}
/*****ばいばい系*****/
void bye(int times, int dir)//0:right, 1:left 2:both
{
std::cout << "Bye " << times << " times ";
stand();
if (dir == 0)
{
std::cout << "with right hand" << std::endl;
ss[servoE].setDegrees(stE + 50);
ss[servoF].setDegrees(stF - 60);
for (int i = 0; i < times; i++)
{
int tim = 20;
for (int j = 0; j < 8; j++)
{
ss[servoG].setDegrees(stG + 80 - j * 10); //右腕
usleep((tim)*1000);
}
for (int j = 0; j < 8; j++)
{
ss[servoG].setDegrees(stG + j * 10); //右腕
usleep((tim)*1000);
}
}
}
if (dir == 1) {
std::cout << "with left hand" << std::endl;
ss[servoB].setDegrees(stB - 50);
ss[servoC].setDegrees(stC + 80);
for (int i = 0; i < times; i++)
{
int tim = 20;
for (int j = 0; j < 8; j++)
{
ss[servoD].setDegrees(stD - 80 + j * 10); //左腕
usleep((tim)*1000);
}
for (int j = 0; j < 8; j++)
{
ss[servoD].setDegrees(stD - j * 10); //左腕
usleep((tim)*1000);
}
}
}
if (dir == 2)
{
std::cout << "with both hand" << std::endl;
ss[servoB].setDegrees(stB - 50);
ss[servoC].setDegrees(stC + 80);
ss[servoE].setDegrees(stE + 50);
ss[servoF].setDegrees(stF - 60);
for (int i = 0; i < times; i++)
{
int tim = 20;
for (int j = 0; j < 8; j++)
{
ss[servoG].setDegrees(stG + 80 - j * 10); //右腕
ss[servoD].setDegrees(stD - 80 + j * 10); //左腕
usleep((tim)*1000);
}
for (int j = 0; j < 8; j++)
{
ss[servoG].setDegrees(stG + j * 10); //右腕
ss[servoD].setDegrees(stD - j * 10); //左腕
usleep((tim)*1000);
}
}
}
}
void nadenade(int times, bool dir) //0:right 1:left
{
std::cout << "Nadenade " << times << " times ";
stand();
if (dir)
{
std::cout << "with left hand" << std::endl;
ss[servoC].setDegrees(stC + 80);
for (int i = 0; i < times; i++)
{
int tim = 20;
for (int j = 0; j < 8; j++)
{
ss[servoD].setDegrees(stD - 80 + j * 10); //左腕
usleep((tim)*1000);
}
for (int j = 0; j < 8; j++)
{
ss[servoD].setDegrees(stD - j * 10); //左腕
usleep((tim)*1000);
}
}
}
if (!dir)
{
std::cout << "with right hand" << std::endl;
ss[servoF].setDegrees(stF - 60);
for (int i = 0; i < times; i++)
{
int tim = 20;
for (int j = 0; j < 8; j++)
{
ss[servoG].setDegrees(stG + 80 - j * 10); //右腕
usleep((tim)*1000);
}
for (int j = 0; j < 8; j++)
{
ss[servoG].setDegrees(stG + j * 10); //右腕
usleep((tim)*1000);
}
}
}
}
/**************/
/*****ダンス?*****/
void dance(int times)
{
std::cout << "Dancing " << times << " times" << std::endl;
for (int i = 0; i < times; i++)
{
foot1();
// ss[servoI].setDegrees(stI 90); //腰
usleep((30)*1000);
walk1();
// ss[servoI].setDegrees(stI 90); //腰
usleep((30)*1000);
foot2();
// ss[servoI].setDegrees(stI 90); //腰
usleep((30)*1000);
walk2();
// ss[servoI].setDegrees(stI 90); //腰
usleep((30)*1000);
}
}
/****************/
/***クソーラン節***/
#define KUSORAN_TEMPO 400
//TEMPO, CJ said it is 407.6
void kusoran()
{
stand();
// usleep((4000)*1000);
kamae();
usleep((10000)*1000);
// setLEDColor(color.BLUE());
usleep((1000)*1000);
waver();
wavel();
amimaki1(5);
amimaki2();
amimaki3();
amimaki1(5);
amimaki2();
amimaki3();
amimaki1(5);
amimaki2();
amimaki3();
amimaki1(2);
amimaki2();
Tparty1(KUSORAN_TEMPO * 2);
Tparty2(KUSORAN_TEMPO);
tie(KUSORAN_TEMPO);
dokkoisyor();
dokkoisyol();
soransoran();
dokkoisyor();
dokkoisyol();
soransoran();
tekogi(5);
haihai();
koshimage(KUSORAN_TEMPO);
amimaki1(6);
volt1(KUSORAN_TEMPO);
koshimage(KUSORAN_TEMPO);
amimaki1(6);
volt2(KUSORAN_TEMPO);
human(KUSORAN_TEMPO);
tie(KUSORAN_TEMPO);
yajiron(16);
dokkoisyo();
dokkoisyor();
dokkoisyol();
soransoran();
dokkoisyor();
dokkoisyol();
soransoran();
gattsu(4);
biem(4);
tekogi(4);
dosuru(KUSORAN_TEMPO * 2);
volt1(4000);
}
void kamae()
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB + 20);
ss[servoC].setDegrees(stC);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE + 60);
ss[servoF].setDegrees(stF);
ss[servoG].setDegrees(stG + 70); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI + 60); //腰
ss[servoK].setDegrees(stK + 50);
ss[servoL].setDegrees(stL + 70); //170
ss[servoM].setDegrees(stM + 70); //170
ss[servoN].setDegrees(stN - 20);
ss[servoO].setDegrees(stO + 50); //右足
ss[servoQ].setDegrees(stQ - 50);
ss[servoR].setDegrees(stR - 70); //30
ss[servoS].setDegrees(stS - 70); //30
ss[servoT].setDegrees(stT + 20);
ss[servoU].setDegrees(stU - 50); //左足
}
void waver()
{
ss[servoB].setDegrees(stB);
ss[servoC].setDegrees(stC);
ss[servoD].setDegrees(stD); //左腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI); //腰
ss[servoK].setDegrees(stK + 50);
ss[servoL].setDegrees(stL + 70); //170
ss[servoM].setDegrees(stM + 50); //170
ss[servoN].setDegrees(stN - 30);
ss[servoO].setDegrees(stO + 50); //右足
ss[servoQ].setDegrees(stQ - 50);
ss[servoR].setDegrees(stR - 70); //30
ss[servoS].setDegrees(stS - 50); //30
ss[servoT].setDegrees(stT + 30);
ss[servoU].setDegrees(stU - 50); //左足
for (int i = 0; i < 8; i++)
{
int j = 10 * i;
ss[servoA].setDegrees(stA + 40 - j);//-40~+40
ss[servoE].setDegrees(stE + 50);
ss[servoF].setDegrees(stF + 40 - j); //-40~+40
ss[servoG].setDegrees(stG);
usleep((KUSORAN_TEMPO / 2)*1000);
ss[servoG].setDegrees(stG + 30); //右腕
usleep((KUSORAN_TEMPO / 2)*1000);
}
}
void wavel()
{
ss[servoE].setDegrees(stE);
ss[servoF].setDegrees(stF);
ss[servoG].setDegrees(stG); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI); //腰
ss[servoK].setDegrees(stK + 50);
ss[servoL].setDegrees(stL + 70); //170
ss[servoM].setDegrees(stM + 50); //170
ss[servoN].setDegrees(stN - 30);
ss[servoO].setDegrees(stO + 50); //右足
ss[servoQ].setDegrees(stQ - 50);
ss[servoR].setDegrees(stR - 70); //30
ss[servoS].setDegrees(stS - 50); //30
ss[servoT].setDegrees(stT + 30);
ss[servoU].setDegrees(stU - 50); //左足
for (int i = 0; i < 8; i++)
{
int j = 10 * i;
ss[servoA].setDegrees(stA - 40 + j);//-40~+40
ss[servoB].setDegrees(stB - 50);
ss[servoC].setDegrees(stC - 40 + j);
ss[servoD].setDegrees(stD);
usleep((KUSORAN_TEMPO / 2)*1000);
ss[servoD].setDegrees(stD - 30); //左腕
usleep((KUSORAN_TEMPO / 2)*1000);
}
}
void amimaki1(int times)
{
ss[servoA].setDegrees(stA); //首
ss[servoB].setDegrees(stB - 50);
ss[servoC].setDegrees(stC - 20);
ss[servoD].setDegrees(stD - 30); //左腕
ss[servoE].setDegrees(stE + 40);
ss[servoF].setDegrees(stF + 20);
ss[servoG].setDegrees(stG + 30); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI + 50); //腰
ss[servoK].setDegrees(stK + 50);
ss[servoL].setDegrees(stL + 70); //170
ss[servoM].setDegrees(stM + 50); //170
ss[servoN].setDegrees(stN - 20);
ss[servoO].setDegrees(stO + 50); //右足
ss[servoQ].setDegrees(stQ - 50);
ss[servoR].setDegrees(stR - 70); //30
ss[servoS].setDegrees(stS - 50); //30
ss[servoT].setDegrees(stT + 20);
ss[servoU].setDegrees(stU - 50); //左足
for (int i = 0; i < times; i++)
{
ss[servoB].setDegrees(stB - 40);
ss[servoC].setDegrees(stC - 60);
ss[servoD].setDegrees(stD - 20); //左腕
ss[servoE].setDegrees(stE + 50);
ss[servoF].setDegrees(stF + 40);
ss[servoG].setDegrees(stG + 20); //右腕
usleep((KUSORAN_TEMPO / 2)*1000);
ss[servoB].setDegrees(stB - 50);
ss[servoC].setDegrees(stC - 40);
ss[servoD].setDegrees(stD - 20); //左腕
ss[servoE].setDegrees(stE + 40);
ss[servoF].setDegrees(stF + 60);
ss[servoG].setDegrees(stG + 20); //右腕
usleep((KUSORAN_TEMPO / 2)*1000);
}
}
void amimaki2()
{
ss[servoB].setDegrees(stB);
ss[servoC].setDegrees(stC);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE + 50);
ss[servoF].setDegrees(stF);
ss[servoG].setDegrees(stG + 70); //右腕
ss[servoH].setDegrees(stH);
ss[servoI].setDegrees(stI); //腰
ss[servoK].setDegrees(stK + 50);
ss[servoL].setDegrees(stL + 70); //170
ss[servoM].setDegrees(stM + 50); //170
ss[servoN].setDegrees(stN - 20);
ss[servoO].setDegrees(stO + 50); //右足
ss[servoQ].setDegrees(stQ - 50);
ss[servoR].setDegrees(stR - 70); //30
ss[servoS].setDegrees(stS - 50); //30
ss[servoT].setDegrees(stT + 20);
ss[servoU].setDegrees(stU - 50); //左足
usleep((KUSORAN_TEMPO)*1000);
ss[servoB].setDegrees(stB - 50);
ss[servoC].setDegrees(stC);
ss[servoD].setDegrees(stD - 70); //左腕
ss[servoE].setDegrees(stE);
ss[servoF].setDegrees(stF);
ss[servoG].setDegrees(stG); //右腕
usleep((KUSORAN_TEMPO)*1000);
}
void amimaki3()
{
ss[servoB].setDegrees(stB);
ss[servoC].setDegrees(stC);
ss[servoD].setDegrees(stD); //左腕
ss[servoE].setDegrees(stE + 50);
ss[servoF].setDegrees(stF);
ss[servoG].setDegrees(stG + 70); //右腕