Version 2.4.1

ArminJo · Apr 7, 2022 · 78e2b3c · 78e2b3c
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diff --git a/README.md b/README.md
@@ -151,7 +151,7 @@ To customize the library to different requirements, there are some compile optio
 These macros must be defined in your program before the line `#include <ServoEasing.hpp>` to take effect.<br/>
 Modify them by enabling / disabling them, or change the values if applicable.
 
-| Option | Default | Description |
+| Name | Default value | Description |
 |-|-|-|
 | `USE_PCA9685_SERVO_EXPANDER` | disabled | Enables the use of the PCA9685 I2C expander chip/board. |
 | `USE_SERVO_LIB` | disabled | Use of PCA9685 normally disables use of regular servo library. You can force additional using of regular servo library by defining `USE_SERVO_LIB`. See [below](https://github.com/ArminJo/ServoEasing#using-pca9685-16-channel-servo-expander). |

diff --git a/examples/AsymmetricEasing/AsymmetricEasing.ino b/examples/AsymmetricEasing/AsymmetricEasing.ino
@@ -19,7 +19,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include <Arduino.h>

diff --git a/examples/AsymmetricEasing/PinDefinitionsAndMore.h b/examples/AsymmetricEasing/PinDefinitionsAndMore.h
@@ -20,7 +20,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/CatMover/CatMover.ino b/examples/CatMover/CatMover.ino
@@ -19,7 +19,7 @@
  *  GNU General Public License for more details.
 
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/CatMover/PinDefinitionsAndMore.h b/examples/CatMover/PinDefinitionsAndMore.h
@@ -20,7 +20,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/ContinuousRotatingServo/ContinuousRotatingServo.ino b/examples/ContinuousRotatingServo/ContinuousRotatingServo.ino
@@ -19,7 +19,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include <Arduino.h>

diff --git a/examples/ContinuousRotatingServo/PinDefinitionsAndMore.h b/examples/ContinuousRotatingServo/PinDefinitionsAndMore.h
@@ -20,7 +20,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/EndPositionsTest/ADCUtils.cpp b/examples/EndPositionsTest/ADCUtils.cpp
@@ -19,7 +19,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include "ADCUtils.h"

diff --git a/examples/EndPositionsTest/ADCUtils.h b/examples/EndPositionsTest/ADCUtils.h
@@ -17,7 +17,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/EndPositionsTest/EndPositionsTest.ino b/examples/EndPositionsTest/EndPositionsTest.ino
@@ -27,7 +27,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include <Arduino.h>

diff --git a/examples/EndPositionsTest/PinDefinitionsAndMore.h b/examples/EndPositionsTest/PinDefinitionsAndMore.h
@@ -20,7 +20,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/LightweightServoExample/LightweightServoExample.ino b/examples/LightweightServoExample/LightweightServoExample.ino
@@ -19,7 +19,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/LightweightServoExample/PinDefinitionsAndMore.h b/examples/LightweightServoExample/PinDefinitionsAndMore.h
@@ -20,7 +20,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/OneServo/OneServo.ino b/examples/OneServo/OneServo.ino
@@ -19,7 +19,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include <Arduino.h>

diff --git a/examples/OneServo/PinDefinitionsAndMore.h b/examples/OneServo/PinDefinitionsAndMore.h
@@ -20,7 +20,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/PCA9685_Expander/PCA9685_Expander.ino b/examples/PCA9685_Expander/PCA9685_Expander.ino
@@ -31,7 +31,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include <Arduino.h>

diff --git a/examples/PCA9685_ExpanderAndServo/PCA9685_ExpanderAndServo.ino b/examples/PCA9685_ExpanderAndServo/PCA9685_ExpanderAndServo.ino
@@ -32,7 +32,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include <Arduino.h>

diff --git a/examples/PCA9685_ExpanderFor32Servos/PCA9685_ExpanderFor32Servos.ino b/examples/PCA9685_ExpanderFor32Servos/PCA9685_ExpanderFor32Servos.ino
@@ -31,7 +31,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include <Arduino.h>

diff --git a/examples/QuadrupedControl/ADCUtils.cpp b/examples/QuadrupedControl/ADCUtils.cpp
@@ -19,7 +19,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #include "ADCUtils.h"

diff --git a/examples/QuadrupedControl/ADCUtils.h b/examples/QuadrupedControl/ADCUtils.h
@@ -17,7 +17,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/QuadrupedControl/HCSR04.cpp b/examples/QuadrupedControl/HCSR04.cpp
@@ -49,7 +49,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/QuadrupedControl/HCSR04.h b/examples/QuadrupedControl/HCSR04.h
@@ -25,7 +25,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  *
  */
 

diff --git a/examples/QuadrupedControl/IRCommandDispatcher.h b/examples/QuadrupedControl/IRCommandDispatcher.h
@@ -23,7 +23,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
 #ifndef _IR_COMMAND_DISPATCHER_H

diff --git a/examples/QuadrupedControl/IRCommandDispatcher.hpp b/examples/QuadrupedControl/IRCommandDispatcher.hpp
@@ -29,7 +29,7 @@
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *  along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 #ifndef _IR_COMMAND_DISPATCHER_HPP
 #define _IR_COMMAND_DISPATCHER_HPP

diff --git a/examples/QuadrupedControl/IRCommandMapping.h b/examples/QuadrupedControl/IRCommandMapping.h
@@ -11,12 +11,15 @@
  * Select the one you have below.
  */
 
-#ifndef IR_COMMAND_MAPPING_H_
-#define IR_COMMAND_MAPPING_H_
+#ifndef _IR_COMMAND_MAPPING_H
+#define _IR_COMMAND_MAPPING_H
 
 #include <Arduino.h>
 
+#include "IRCommandDispatcher.h" // IR_COMMAND_FLAG_BLOCKING etc. are defined here
 #include "QuadrupedControlCommands.h" // contains the command definitions used in the mapping table below
+#include "QuadrupedHelper.h"    // for additional commands
+#include "QuadrupedNeoPixel.h"  // for additional commands
 
 /*
  * !!! Choose your remote !!!
@@ -284,11 +287,9 @@
 #endif
 
 #if defined(USE_WHITE_DVD_REMOTE)
-#include "QuadrupedNeoPixel.h"  // for additional commands
-#include "QuadrupedHelper.h"    // for additional commands
 #  if defined(IR_REMOTE_NAME)
 #error "Please choose only one remote for compile"
-#  elsef
+#  else
 #define IR_REMOTE_NAME "WHITE_DVD"
 #define HAS_ADDITIONAL_REMOTE_COMMANDS
 
@@ -477,6 +478,5 @@ COMMAND_STOP, IR_COMMAND_FLAG_IS_STOP_COMMAND, &doStop, stop }
 #endif
         };
 
-#endif /* IR_COMMAND_MAPPING_H_ */
-
+#endif // _IR_COMMAND_MAPPING_H
 #pragma once
diff --git a/examples/QuadrupedControl/QuadrupedBasicMovements.h b/examples/QuadrupedControl/QuadrupedBasicMovements.h
@@ -5,15 +5,44 @@
  *      Author: Armin
  */
 
-#ifndef QUADRUPED_BASIC_MOVEMENTS_H
-#define QUADRUPED_BASIC_MOVEMENTS_H
+#ifndef _QUADRUPED_BASIC_MOVEMENTS_H
+#define _QUADRUPED_BASIC_MOVEMENTS_H
 
 #include "QuadrupedServoConfiguration.h" // for MOVE_DIRECTION_FORWARD
 
 #include <stdint.h>
 
 extern volatile uint8_t sMovingDirection;
 
+#if ! defined(QUADRUPED_MOVEMENT_BREAK_FLAG)
+#define QUADRUPED_MOVEMENT_BREAK_FLAG false
+#endif
+#if ! defined(QUADRUPED_BREAK_IF_STOP)
+#define QUADRUPED_BREAK_IF_STOP     if (QUADRUPED_MOVEMENT_BREAK_FLAG) break
+#endif
+#if ! defined(QUADRUPED_RETURN_IF_STOP)
+#define QUADRUPED_RETURN_IF_STOP     if (QUADRUPED_MOVEMENT_BREAK_FLAG) return
+#endif
+
+/*
+ * Action type definitions
+ * Currently used for NeoPatterns display
+ */
+#define ACTION_TYPE_STOP    0
+#define ACTION_TYPE_CREEP   1
+#define ACTION_TYPE_TROT    2
+#define ACTION_TYPE_TURN    3
+#define ACTION_TYPE_TWIST   4
+#define ACTION_TYPE_ATTENTION   5
+#define ACTION_TYPE_LEAN    6
+#define ACTION_TYPE_WAVE    7
+// only used by UserCommands.cpp
+#define ACTION_TYPE_DANCE   8
+#define ACTION_TYPE_TEST    9
+#define ACTION_TYPE_AUTO_MOVE   10
+extern uint8_t sCurrentlyRunningAction; // A change on this action type triggers the generation of new neopatterns
+extern uint8_t sLastActionTypeForNeopatternsDisplay; // do determine changes of sCurrentlyRunningAction
+
 /*
  * Movements
  */
@@ -24,6 +53,5 @@ void moveTurn(uint8_t aNumberOfTurns = 0);          // 0 -> 256 turns
 void moveTrot(uint8_t aNumberOfTrots = 0);      // 0 -> 256 trots
 void moveCreep(uint8_t aNumberOfCreeps = 0);    // 0 -> 256 creeps
 
-#endif /* QUADRUPED_BASIC_MOVEMENTS_H */
-
+#endif // _QUADRUPED_BASIC_MOVEMENTS_H
 #pragma once