gistfile1.c

/**
This is the Pinoccio Bootstrap sketch from https://github.com/Pinoccio/library-pinoccio
Modified by @JacobRosenthal to be a wrapper for the excellent TimerThree library
from PJRC so you'll need that: http://www.pjrc.com/teensy/td_libs_TimerOne.html

Follow the directions there, but basically after uploading this you'll still have
all your Scout and HQ functions but now you you can call the TimerThree functions
from scoutscript. 
Note: 
You can only use pins 3, 4 and 5
The interrupt functions are not available as they're not set up in Pinoccio yet
Functions are lower case

EX:

timer3.initialize(20000); //set up 20ms timer for a servo for instance
timer3.pwm(3, 20); //set duty cycle on pin 3 to 2%

TODO:
Pinoccio is a bit in motion still and theres no way for me to call the pins in
such a way that HQ knows about them and can show their new status in the HQ dashboard :(

This is probably under some license from the Pinoccio guys. Go talk to them.
*/

#include <TimerThree.h>

#include <SPI.h>
#include <Wire.h>
#include <Scout.h>
#include <GS.h>
#include <bitlash.h>
#include <lwm.h>
#include <js0n.h>

#include "version.h"

void setup() {
  Timer3.initialize(20000);
  
  addBitlashFunction("timer3.initialize", (bitlash_function)timer3Initialize);
  addBitlashFunction("timer3.setPeriod", (bitlash_function)timer3SetPeriod);
  addBitlashFunction("timer3.start", (bitlash_function)timer3Start);
  addBitlashFunction("timer3.stop", (bitlash_function)timer3Stop);
  addBitlashFunction("timer3.restart", (bitlash_function)timer3Restart);
  addBitlashFunction("timer3.resume", (bitlash_function)timer3Resume);
  addBitlashFunction("timer3.pwm", (bitlash_function)timer3Pwm);
  addBitlashFunction("timer3.setPwmDuty", (bitlash_function)timer3SetPwmDuty);
  addBitlashFunction("timer3.disablePwm", (bitlash_function)timer3DisablePwm);

  // all directions based on looking at the bot from the back
  addBitlashFunction("wb.centerleft", (bitlash_function)wbCenterLeft);
  addBitlashFunction("wb.centercenter", (bitlash_function)wbCenterCenter);
  addBitlashFunction("wb.centerright", (bitlash_function)wbCenterRight);
  addBitlashFunction("wb.rightforward", (bitlash_function)wbRightForward);
  addBitlashFunction("wb.rightbackward", (bitlash_function)wbRightBackward);
  addBitlashFunction("wb.rightcenter", (bitlash_function)wbRightCenter);
  addBitlashFunction("wb.leftforward", (bitlash_function)wbLeftForward);
  addBitlashFunction("wb.leftbackward", (bitlash_function)wbLeftBackward);
  addBitlashFunction("wb.leftcenter", (bitlash_function)wbLeftCenter);
  addBitlashFunction("wb.centerall", (bitlash_function)wbCenterAll);
  
  addBitlashFunction("wb.leftgaitf", (bitlash_function)wbLeftGaitF);
  addBitlashFunction("wb.rightgaitf", (bitlash_function)wbRightGaitF);
  addBitlashFunction("wb.leftgaitb", (bitlash_function)wbLeftGaitB);
  addBitlashFunction("wb.rightgaitb", (bitlash_function)wbRightGaitB);
  
  addBitlashFunction("wb.stepforward", (bitlash_function)wbStepForward);
  addBitlashFunction("wb.stepbackward", (bitlash_function)wbStepBackward);
  
   // if servo articulation vars aren't set, default them here:
  if (getVar('a'-'a') == 0) { assignVar('a'-'a', 52); } // left servo, forward position
  if (getVar('b'-'a') == 0) { assignVar('b'-'a', 62); } // left servo, center position
  if (getVar('c'-'a') == 0) { assignVar('c'-'a', 72); } // left servo, backward position
  if (getVar('d'-'a') == 0) { assignVar('d'-'a', 54); } // center servo, left leg down
  if (getVar('e'-'a') == 0) { assignVar('e'-'a', 62); } // center servo, both legs down
  if (getVar('f'-'a') == 0) { assignVar('f'-'a', 70); } // center servo, right leg down
  if (getVar('g'-'a') == 0) { assignVar('g'-'a', 72); } // right servo, forward position
  if (getVar('h'-'a') == 0) { assignVar('h'-'a', 62); } // right servo, center position
  if (getVar('i'-'a') == 0) { assignVar('i'-'a', 52); } // right servo, backward position
  
  Scout.setup(SKETCH_NAME, SKETCH_REVISION, SKETCH_BUILD);
  // Add custom setup code here
}

void loop() {
  Scout.loop();
  // Add custom loop code here
}

numvar timer3Initialize(void) {
  Timer3.initialize(getarg(1));
}

numvar timer3SetPeriod(void) {
  Timer3.setPeriod(getarg(1));
}

numvar timer3Start(void) {
  Timer3.start();
}

numvar timer3Stop(void) {
  Timer3.stop();
}

numvar timer3Restart(void) {
  Timer3.restart();
}

numvar timer3Resume(void) {
  Timer3.resume();
}

numvar timer3Pwm(void) {
  Timer3.pwm(getarg(1), getarg(2));
}

numvar timer3SetPwmDuty(void) {
  Timer3.setPwmDuty(getarg(1), getarg(2));
}

numvar timer3DisablePwm(void) {
  Timer3.disablePwm(getarg(1));
}

// walking functions
numvar wbLeftForward(void) {
  Timer3.pwm(5, getVar('a'-'a'));
}

numvar wbLeftCenter(void) {
  Timer3.pwm(5, getVar('b'-'a'));
}

numvar wbLeftBackward(void) {
  Timer3.pwm(5, getVar('c'-'a'));
}

numvar wbCenterLeft(void) {
  Timer3.pwm(4, getVar('d'-'a'));
}

numvar wbCenterCenter(void) {
  Timer3.pwm(4, getVar('e'-'a'));
}

numvar wbCenterRight(void) {
  Timer3.pwm(4, getVar('f'-'a'));
}

numvar wbRightForward(void) {
  Timer3.pwm(3, getVar('g'-'a'));
}

numvar wbRightCenter(void) {
  Timer3.pwm(3, getVar('h'-'a'));
}

numvar wbRightBackward(void) {
  Timer3.pwm(3, getVar('i'-'a'));
}

numvar wbCenterAll(void) {
  Shell.delay(10, "wb.leftcenter");
  Shell.delay(50, "wb.centercenter");
  Shell.delay(100, "wb.rightcenter");
}

numvar wbLeftGaitF(void) {
  Shell.delay(10, "wb.centerleft");
  Shell.delay(100, "wb.rightbackward");
  Shell.delay(200, "wb.leftforward");
}

numvar wbRightGaitF(void) {
  Shell.delay(10, "wb.centerright");
  Shell.delay(100, "wb.leftbackward");
  Shell.delay(200, "wb.rightforward");
}

numvar wbLeftGaitB(void) {
  Shell.delay(10, "wb.centerleft");
  Shell.delay(100, "wb.leftbackward");
  Shell.delay(200, "wb.rightforward");
}

numvar wbRightGaitB(void) {
  Shell.delay(10, "wb.centerright");
  Shell.delay(100, "wb.rightbackward");
  Shell.delay(200, "wb.leftforward");
}

numvar wbStepForward(void) {
  Shell.delay(10, "wb.leftgaitf");
  Shell.delay(300, "wb.rightgaitf");
}

numvar wbStepBackward(void) {
  Shell.delay(10, "wb.rightgaitb");
  Shell.delay(300, "wb.leftgaitb");
}