Merge branch 'master' of git.lekensteyn.nl:tue/2iv60-robots

1 files changed, 53 insertions, 0 deletions

diff --git a/src/DumbWalkAnimation.java b/src/DumbWalkAnimation.java
new file mode 100644
index 0000000..7ff44d1
--- /dev/null
+++ b/src/DumbWalkAnimation.java
@@ -0,0 +1,53 @@
+
+/**
+ * A WalkAnimation that does not result in a smooth transition. The formula and
+ * constants are chosen at random.
+ *
+ * @author Peter Wu
+ */
+public class DumbWalkAnimation implements WalkAnimation {
+
+    private double robot_pos_meters;
+
+    /**
+     * Sets the new position for the robot.
+     */
+    public void updatePosition(double pos) {
+        this.robot_pos_meters = pos;
+    }
+
+    private double getTime() {
+        return robot_pos_meters / 5;
+    }
+
+    @Override
+    public double getLegAngleLeft() {
+        return Math.sin(-getTime()) * 30.0;
+    }
+
+    @Override
+    public double getLegAngleRight() {
+        return -getLegAngleLeft();
+    }
+
+    @Override
+    public double getKneeAngleLeft() {
+        return 75.0 + Math.abs(Math.cos(getTime()) * 90.0);
+    }
+
+    public double getKneeAngleRight() {
+        return getKneeAngleLeft();
+    }
+
+    @Override
+    public double getArmAngleLeft() {
+        // static non-moving arms.
+        return 0;
+    }
+
+    @Override
+    public double getArmAngleRight() {
+        // static non-moving arms.
+        return 0;
+    }
+}