minor updates

Nova-SM2/Code/Nova-SM2-v3.0/NovaServos.h

@@ -1,3 +1,14 @@
+/*
+ *   NovaSM2 - a Spot-Micro clone
+ *   Version: 3.0
+ *   Version Date: 2021-03-12
+ *   
+ *   Author:  Chris Locke - cguweb@gmail.com
+ *   GitHub Project:  https://github.com/cguweb-com/Arduino-Projects/tree/main/Nova-SM2
+ *   Instructables Project: https://www.instructables.com/member/cguweb/instructables/
+ *   
+*/
+
 #define TOTAL_SERVOS 12
 #define TOTAL_LEGS 4
 
@@ -26,46 +37,51 @@
 //setup servo data arrays 
 byte activeServo[TOTAL_SERVOS];
 byte activeSweep[TOTAL_SERVOS];
-int servoSweep[TOTAL_SERVOS][6];  //start_pos, target pos, sweep type, loops, delay ms, [unused]
+byte servoSwitch[TOTAL_SERVOS];
+float servoSpeed[TOTAL_SERVOS];
+float servoPos[TOTAL_SERVOS];
+float targetPos[TOTAL_SERVOS];
+float servoSweep[TOTAL_SERVOS][6];  //start_pos, target pos, sweep type, loops, delay ms, [unused]
 float servoRamp[TOTAL_SERVOS][8]; //speed, travel_distance, ramp1_spd, ramp1_dist, ramp1_inc, ramp2_spd, ramp2_dist, ramp2_inc
 int servoSequence[TOTAL_LEGS];
 int servoDelay[TOTAL_SERVOS][2];
 int servoStep[TOTAL_SERVOS];
-int servoSwitch[TOTAL_SERVOS];
-float servoSpeed[TOTAL_SERVOS];
-float servoPos[TOTAL_SERVOS];
-float targetPos[TOTAL_SERVOS];
-int bodyBone[3] = {       //bone lengths in mm : length, width, height 
-  180, 120, 200           //(ie: measured on pivots: shoulder-to-shoulder, coax-to-coax, and ground-to-coax)
-};
-int servoBone[TOTAL_LEGS][3] = {           //bone lengths in mm : tibia, femur, shoulder
-  {132, 105, 90},     //RFC, RFF, RFT
-  {132, 105, 90},     //LFx
-  {132, 105, 90},     //RRx
-  {132, 105, 90},     //LRx
-};
+
 int servoSetup[TOTAL_SERVOS][2] = {       //driver, pin
-  {1,0}, {1,1}, {1,2},                    //RFx
-  {1,4}, {1,5}, {1,6},                 	  //LFx
-  {1,8}, {1,9}, {1,10},                   //RRx
+  {1,0},  {1,1},  {1,2},                  //RFx
+  {1,4},  {1,5},  {1,6},                 	//LFx
+  {1,8},  {1,9},  {1,10},                 //RRx
   {1,12}, {1,13}, {1,14},                 //LRx
 };
-float servoHome[TOTAL_SERVOS] = {           //home pos
+
+float servoHome[TOTAL_SERVOS] = {         //home pos
   417, 301, 435,                          //RFx
   355, 422, 355,                          //LFx
   348, 344, 396,                          //RRx
   364, 341, 306,                          //LRx
 };
-float servoLimit[TOTAL_SERVOS][2] = {       //min, max
+
+float servoLimit[TOTAL_SERVOS][2] = {     //min, max
   {379, 499}, {226, 466}, {322, 548},     //RFx 
   {393, 273}, {497, 257}, {468, 242},     //LFx
   {310, 430}, {269, 509}, {283, 509},     //RRx
   {402, 282}, {416, 176}, {419, 193},     //LRx
 };
-int servoStepMoves[TOTAL_SERVOS][6] = {   			  //step1, step2, etc
+
+int servoStepMoves[TOTAL_SERVOS][6] = {   			      //step1, step2, etc
   {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0},        //RFx
   {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0},        //LFx
   {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0},        //RRx
   {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0},        //LRx
 };
 
+int bodyBone[3] = {       //bone lengths in mm : length, width, height 
+  180, 120, 200           //(ie: measured on pivots: shoulder-to-shoulder, coax-to-coax, and ground-to-coax)
+};
+
+int servoBone[TOTAL_LEGS][3] = {           //bone lengths in mm : tibia, femur, shoulder
+  {132, 105, 90},     //RFC, RFF, RFT
+  {132, 105, 90},     //LFx
+  {132, 105, 90},     //RRx
+  {132, 105, 90},     //LRx
+};