Freenove ESP32 User Manual

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121
Chapter 12 Basic Motion
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/*
Please note that the following functions are based on the premise that the robot dog has been calibrated.
If your robot dog has not been calibrated yet, calibrate before learning.
Otherwise, the steering gear may be damaged, or the machine action cannot achieve the desired purpose.
*/
void setup() {
Serial.begin(115200);
Serial.println("\n\nProgram begin ... ");
prefs.begin(NMSPC_STORAGE);
pca.begin();
pca.releaseAllServo();
getServoOffsetFromStorage();
standUp();
delay(3000);
const uint8_t repeatCounts = 3;
const int8_t acts[][2][3] = {
{ { 0, 0, 10 }, { 0, 0, -10 } }, //Rotate horizontally clockwise, counterclockwise horizontal rotation.
{ { 0, 10, 0 }, { 0, -10, 0 } }, //High on the left and low on the right, low on the left and high on the right.
{ { 10, 0, 0 }, { -10, 0, 0 } } //High at the front and low at the back, low at the front and high at the back.
};
for (uint8_t i = 0; i < sizeof(acts) / sizeof(acts[0]); i++) {
for (int k = 0; k < repeatCounts; k++) {
for (int j = 0; j < 2; j++) {
twist_any(acts[i][j][0], acts[i][j][1], acts[i][j][2]);
delay(20);
}
}
}
//Rotate horizontally clockwise, and high at the front and low at the back, low at the front and high at the
back.
int8_t x = 0, y = 0, z = 0;
for (uint8_t j = 0; j < repeatCounts; j++) {
for (int i = 0; i < 360; i += 30) {
x = 10 * sin((double)i * PI / 180);
z = 10 * cos((double)i * PI / 180);
twist_any(x, y, z);
}
}
twist_any(0, 0, 0); //Normal standing

Freenove ESP32 Specifications

General

Brand	Freenove
Model	ESP32
Category	Computer Hardware
Language	English