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STEMI Hexapod v2 API documentation

Library that includes everything you need to get your STEMI hexapod walking and dancing using your mobile app :)

LED​

Functions for animated led colors. Combine these functions to get LED animations:​

void setLed(Color color);
  • Examples:
robot.setLed(CYAN);
  • Arguments:
    • Color
void setLed(Color primarClr, Color secondarClr, uint8_t spreadRatio, int16_t direction);
  • Examples:
robot.setLed(PURPLE, YELLOW, 50, 30);
robot.setLed(PURPLE, YELLOW, 50, LED_L1_ANGLE);
  • Arguments:
    • Color,
    • Color,
    • [0,100] %,
    • [-180, 180] °
void setLedRotationSpeed(int8_t rotationSpeed);
  • Example:
robot.setLedRotationSpeed(50);
  • Units:
    • [-100,100] %
void setLedBlinkingSpeed(uint8_t blinkingSpeed);
  • Example:
robot.setLedBlinkingSpeed(50);
  • Arguments:
    • [0,100] %

Functions for static led colors - without animations (rotation and blinking don’t work when combined with these functions):​

void setLedStatic(uint8_t ledNo, Color color);
  • Examples:
robot.setLedStatic(4, RED);
robot.setLedStatic(LED_L2, BLUE);
  • Arguments:
    • [0,5] led number,
    • Color
void setLedStatic(Color color);
  • Examples:
robot.setLedStatic(RED);
  • Arguments:
    • Color

Possible inputs for: Color​

RED = { 255, 0, 0 };
GREEN = { 0, 255, 0 };
BLUE = { 0, 0, 255 };
YELLOW = { 255, 242, 0 };
PURPLE = { 255, 0, 255 };
CYAN = { 0, 255, 255 };
WHITE = { 255, 255, 255 };
ORANGE = { 255, 60, 0 };
BLACK = { 0, 0, 0 };

Possible inputs for: ledNo​

LED_R1 = 0
LED_R2 = 1
LED_R3 = 2
LED_L1 = 5
LED_L2 = 4
LED_L3 = 3

Possible inputs for: direction​

LED_R1_ANGLE  = -30
LED_R2_ANGLE = -90
LED_R3_ANGLE = -120
LED_L1_ANGLE = 30
LED_L2_ANGLE = 90
LED_L3_ANGLE = 120

Movement

void move(userPresetInputData movement, float duration = MOVE_DURATION_DEFAULT);
  • Examples:
robot.move(FORWARD, 500);
  • Arguments:
    • movement,
    • milliseconds (Note: duration can be specified but is not obligatory, default is infinite = -1)
void move(uint8_t linearVelocity, int16_t direction, int8_t angularVelocity, float duration = MOVE_DURATION_DEFAULT);
  • Examples:
robot.move(40, 0, 0); // move forward infinitely, or until other command is called
robot.move(0, 0, 40); // rotate to the left infinitely, or until other command is called
robot.move(40, 0, 0, 5000) // move forward for 5000 milliseconds

  • Arguments:

    • [0,100] %,
    • [-180,180] °,
    • [-100,100] %,
    • milliseconds (Note: duration can be specified but is not obligatory, default is infinite = -1)

  • STOP Hexapod:

robot.move(0, 0, 0; // stops the robot
void rotate(userPresetInputData rotation, float duration = MOVE_DURATION_DEFAULT);
  • Examples:
robot.rotate(LEFT, 5000);
  • Arguments:
    • movement,
    • milliseconds (Note: duration can be specified but is not obligatory, default is infinite = -1)
void tilt(userPresetInputData tiltation);
  • Examples:
robot.tilt(LEFT);
  • Arguments:
    • tiltation
void tilt(int8_t rotationXNew, int8_t rotationYNew, int8_t rotationZNew);
  • Examples:
robot.tilt(30, 0 , 50);
  • Arguments:
    • [-100,100] %,
    • [-100,100] %,
    • [-100,100] % Note: check robot axes
void stretch(userPresetInputData stretchment);
  • Examples:
robot.stretch(LEFT);
  • Arguments:
    • stretchment
void stretch(int8_t translationXNew, int8_t treanslationYNew);
  • Examples:
robot.tilt(30, 0);
  • Arguments:
    • [-100,100] %,
    • [-100,100] % Note: check robot axes
void setHeight(uint8_t height);
  • Examples:
robot.setHeight(30);
  • Arguments:
    • [0,100] %

Possible inputs for: userPresetInputData (movement, tiltation, stretchment)​

FORWARD
BACKWARD
RIGHT
LEFT
RESET

Modes​

int8_t getMode(); // Returns ID of current mode
void enterUserMode(); // Enters user mode
void exitUserMode(); // Enters walking mode

Possible modes:​

ROBOT_USER_MODE -1
ROBOT_STANDBY_MODE 0
ROBOT_WALK_MODE 1
ROBOT_DANCE_MODE 2
ROBOT_SETUP_MODE 10
ROBOT_CALIBRATION_MODE 11
ROBOT_BATTERY_EMPTY_MODE 12

Touch sensors​

uint8_t getTouchPattern(); // Returns touch pattern if pressed, else it returns 0 or TOUCH_000.
  • Examples:
int touchPattern = robot.getTouchPattern();

Possible touchPattern values:​

TOUCH_000 0
TOUCH_X00 1
TOUCH_0X0 2
TOUCH_XX0 3
TOUCH_00X 4
TOUCH_X0X 5
TOUCH_0XX 6
TOUCH_XXX 7

Battery​

float getBatteryVoltage(); // returns current battery voltage
uint8_t getBatteryPercentage(); // returns current battery percentage

Data​

All user input data is stored in userInputData, an object made out of the following structure:

struct InputData
{
    // Movement - inherited from MovementData
    uint8_t linearVelocity; // [0,100]%
    int16_t direction; // [-180,180]degree
    int8_t  angularVelocity; // [-100,100]%

    // Pose - inherited from PoseData
    int8_t translationX; // [-100,100]%
    int8_t translationY; // [-100,100]%
    int8_t translationZ; // [-100,100]%
    int8_t rotationX; // [-100,100]%
    int8_t rotationY; // [-100,100]%
    int8_t rotationZ; // [-100,100]%
    int8_t poseSpeed; // [0,100]% - temporary [99,30]

    // Led - inherited from LedData
    uint8_t ledPrimarClr[3]; // [255]r, [255]g, [255]b
    uint8_t ledSecondarClr[3]; // [255]r, [255]g, [255]b
    int16_t ledDiretion; // [-180,180]degree
    uint8_t ledSpreadRatio; // [0,100]%
    int8_t ledRotationSpeed; // [-100,100]%
    uint8_t ledBlinkingSpeed; // [0,100]%
    uint8_t ledManualClr[6][3]; // 6x [255]r, [255]g, [255]b
    int8_t ledMode; // [manual, parametric]mode

    // Misc - additional data
    // int8_t robotMode; // [check ROBOT_XX_MODE macros]mode
    int8_t moveDuration = 0; // seconds of current command execution [-2 = already written, -1 = inf, 0 = go home, 1-100 = seconds to move]
    int8_t gaitID = 3; // [0,5]gait
    uint8_t stepHeight = 50; // [0,100]%
    bool servoPower = 1; // [on,off]power
};

Example for accessing:

int8_t poseSpeedState = robot.userInputData.poseSpeed;
int8_t linearVelocityRead = robot.userInputData.linearVelocity;