Mercurial > tote

changeset 154:8c4bb05fd129 teensy31

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
Use float instead of double
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Sun, 28 Jun 2015 23:35:42 +0200
parents 78335bffa4b8
children 7f7811e22e63
files start/creep.h start/creep.ino start/leg.h start/leg.ino start/servos.h start/servos.ino
diffstat 6 files changed, 46 insertions(+), 46 deletions(-) [+]
line wrap: on
line diff
--- a/start/creep.h	Sun Jun 28 23:02:02 2015 +0200
+++ b/start/creep.h	Sun Jun 28 23:35:42 2015 +0200
@@ -2,11 +2,11 @@
 #define CREEP_H
 
 /* Walking speed. */
-extern double creep_dx; // Sideways.
-extern double creep_dy; // Forward.
-extern double creep_spread;
-extern double creep_rotation;
-extern double creep_height;
+extern float creep_dx; // Sideways.
+extern float creep_dy; // Forward.
+extern float creep_spread;
+extern float creep_rotation;
+extern float creep_height;
 
 /* Perform one step of the creep gait with the current speed. */
 void walk();
--- a/start/creep.ino	Sun Jun 28 23:02:02 2015 +0200
+++ b/start/creep.ino	Sun Jun 28 23:35:42 2015 +0200
@@ -28,15 +28,15 @@
 };
 
 /* Body position. */
-static double _shift_x = 0.0;
-static double _shift_y = 0.0;
+static float _shift_x = 0.0;
+static float _shift_y = 0.0;
 
 /* Walking speed. */
-double creep_dx = 0.0;          // Sideways.
-double creep_dy = 1.0;          // Forward.
-double creep_rotation = 0.0;    // Rotation.
-double creep_height = TIBIA; // Body height.
-double creep_spread = 0.0;      // Leg spread.
+float creep_dx = 0.0;          // Sideways.
+float creep_dy = 1.0;          // Forward.
+float creep_rotation = 0.0;    // Rotation.
+float creep_height = TIBIA; // Body height.
+float creep_spread = 0.0;      // Leg spread.
 
 /* Which legs are touching the ground? */
 static bool _on_ground[4] = {true, true, true, true};
@@ -67,7 +67,7 @@
 }
 
 /* Shifts the whole body by defined amount. */
-void _shift_body_by(double dx, double dy) {
+void _shift_body_by(float dx, float dy) {
     for (unsigned char leg=0; leg < 4; ++leg) {
         move_leg_by(leg, dx * LEG_X[leg], dy * LEG_Y[leg], 0);
     }
@@ -77,8 +77,8 @@
 
 /* Shifts the body away from the given leg, for balance. */
 void _shift_body(unsigned char leg) {
-    double dx = (LEG_X[leg] * SHIFT - _shift_x) / SHIFT_STEPS;
-    double dy = (LEG_Y[leg] * SHIFT - _shift_y) / SHIFT_STEPS;
+    float dx = (LEG_X[leg] * SHIFT - _shift_x) / SHIFT_STEPS;
+    float dy = (LEG_Y[leg] * SHIFT - _shift_y) / SHIFT_STEPS;
     for (unsigned char i = 0; i < SHIFT_STEPS; ++i) {
         _shift_body_by(dx, dy);
         _creep_tick();
@@ -177,7 +177,7 @@
 /* Perform one step of a walk, selected depending on the speed. */
 void walk() {
     static unsigned char leg = 0;
-    double max_speed = max(abs(creep_rotation),
+    float max_speed = max(abs(creep_rotation),
                            max(abs(creep_dx), abs(creep_dy)));
 
     if (max_speed > 1.5) {
--- a/start/leg.h	Sun Jun 28 23:02:02 2015 +0200
+++ b/start/leg.h	Sun Jun 28 23:35:42 2015 +0200
@@ -1,18 +1,18 @@
 #ifndef LEG_H
 #define LEG_H
 
-const double COXA = 12.0;
-const double FEMUR = 42.0;
-const double TIBIA = 38.5;
-const double BASE = 21.0;
+const float COXA = 12.0;
+const float FEMUR = 42.0;
+const float TIBIA = 38.5;
+const float BASE = 21.0;
 
 const char LEG_X[4] = {-1, -1, 1, 1};
 const char LEG_Y[4] = {1, -1, -1, 1};
-extern double leg_position[4][3];
-const double HOME = (COXA + FEMUR) / SQRT2;
+extern float leg_position[4][3];
+const float HOME = (COXA + FEMUR) / SQRT2;
 
-bool move_leg(unsigned char leg, double x, double y, double z);
-bool move_leg_by(unsigned char leg, double dx, double dy, double dz);
-bool rotate_leg_by(unsigned char leg, double angle);
+bool move_leg(unsigned char leg, float x, float y, float z);
+bool move_leg_by(unsigned char leg, float dx, float dy, float dz);
+bool rotate_leg_by(unsigned char leg, float angle);
 
 #endif
--- a/start/leg.ino	Sun Jun 28 23:02:02 2015 +0200
+++ b/start/leg.ino	Sun Jun 28 23:35:42 2015 +0200
@@ -8,7 +8,7 @@
     {9, 10, 11},
 };
 
-double leg_position[4][3] = {
+float leg_position[4][3] = {
     {HOME, LEG_Y[0] * HOME, -TIBIA},
     {HOME, LEG_Y[0] * HOME, -TIBIA},
     {HOME, LEG_Y[0] * HOME, -TIBIA},
@@ -16,7 +16,7 @@
 };
 
 
-double _solve_triangle(double a, double b, double c) {
+float _solve_triangle(float a, float b, float c) {
     // Calculate the angle between a and b, opposite to c.
     a = abs(a);
     b = abs(b);
@@ -25,17 +25,17 @@
     return acos((a * a + b * b - c * c) / (2 * a * b));
 }
 
-double _norm(double a, double b) {
+float _norm(float a, float b) {
     // Calculate the norm of a vector.
     return sqrt(a * a + b * b);
 }
 
-bool _inverse_kinematics(double x, double y, double z,
-                         double *ankle, double *knee, double *hip) {
+bool _inverse_kinematics(float x, float y, float z,
+                         float *ankle, float *knee, float *hip) {
     // Calculate angles for knee and ankle, and put them in those variables.
     // Return true on success, and false if x and y are out of range.
-    double f = _norm(x, y) - COXA;
-    double d = _norm(f, z);
+    float f = _norm(x, y) - COXA;
+    float d = _norm(f, z);
     // if (d > FEMUR + TIBIA) { return false; }
     d = min(d, FEMUR + TIBIA);
     *hip = atan2(y, x);
@@ -47,11 +47,11 @@
     return true;
 }
 
-bool move_leg(unsigned char leg, double x, double y, double z) {
+bool move_leg(unsigned char leg, float x, float y, float z) {
     // Move the tip of the leg to x, y. Return false when out of range.
-    double ankle = NaN;
-    double knee = NaN;
-    double hip = NaN;
+    float ankle = NaN;
+    float knee = NaN;
+    float hip = NaN;
     leg_position[leg][0] = x;
     leg_position[leg][1] = y;
     leg_position[leg][2] = z;
@@ -65,7 +65,7 @@
     return true;
 }
 
-bool move_leg_by(unsigned char leg, double dx, double dy, double dz) {
+bool move_leg_by(unsigned char leg, float dx, float dy, float dz) {
     // Move the tip of the leg by dx, dy. Return false when out of range.
     return move_leg(leg,
                     leg_position[leg][0] + dx,
@@ -73,11 +73,11 @@
                     leg_position[leg][2] + dz);
 }
 
-bool rotate_leg_by(unsigned char leg, double angle) {
+bool rotate_leg_by(unsigned char leg, float angle) {
     // Rotate the tip of the leg around the center of robot's body.
-    double x = leg_position[leg][0] + BASE;
-    double y = leg_position[leg][1] + BASE;
-    double nx = x * cos(angle) - y * sin(angle) - BASE;
-    double ny = x * sin(angle) + y * cos(angle) - BASE;
+    float x = leg_position[leg][0] + BASE;
+    float y = leg_position[leg][1] + BASE;
+    float nx = x * cos(angle) - y * sin(angle) - BASE;
+    float ny = x * sin(angle) + y * cos(angle) - BASE;
     return move_leg(leg, nx, ny, leg_position[leg][2]);
 }
--- a/start/servos.h	Sun Jun 28 23:02:02 2015 +0200
+++ b/start/servos.h	Sun Jun 28 23:35:42 2015 +0200
@@ -4,7 +4,7 @@
 // Number of servos.
 #define SERVOS 12
 
-void servo_move(unsigned char servo, double rads);
+void servo_move(unsigned char servo, float rads);
 void servo_setup(void);
 void servo_shutdown(void);
 
--- a/start/servos.ino	Sun Jun 28 23:02:02 2015 +0200
+++ b/start/servos.ino	Sun Jun 28 23:35:42 2015 +0200
@@ -34,7 +34,7 @@
 };
 static Servo servos[SERVOS];
 
-static const double HOME_POSITION[SERVOS] = {
+static const float HOME_POSITION[SERVOS] = {
 // ankle, knee, hip
     0, 0, 0,    // front left
     0, 0, 0,    // hind left
@@ -42,7 +42,7 @@
     0, 0, 0     // front right
 };
 
-static const double FOLD_POSITION[SERVOS] = {
+static const float FOLD_POSITION[SERVOS] = {
 // ankle, knee, hip
     -PI2,  PI2, -PI4,    // front left
     -PI2,  PI2, -PI4,    // hind left
@@ -50,7 +50,7 @@
     -PI2,  PI2, -PI4     // front right
 };
 
-void servo_move(unsigned char servo, double rads) {
+void servo_move(unsigned char servo, float rads) {
     // Move a servo to a position in radians between -PI/2 and PI/2.
     long int freq;