212 lines
7.3 KiB
C
212 lines
7.3 KiB
C
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// Implements a class to draw and animate a pair of 'emotive' eyes for a robot
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//
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#pragma once
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#include <MD_MAX72xx.h>
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// Misc defines
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#define ARRAY_SIZE(a) (sizeof(a)/sizeof(a[0])) ///< number of elements in an array
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#define EYE_COL_SIZE 8 ///< number of columns in one eye
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// Module offsets from first module specified
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#define LEFT_MODULE_OFFSET 1 ///< offset from the base LED module for the left eye
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#define RIGHT_MODULE_OFFSET 0 ///< offset from the base LED module for the right eye
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// Array references for eyeData array below
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#define LEFT_EYE_INDEX 1 ///< array reference in the eye data for the left eye
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#define RIGHT_EYE_INDEX 0 ///< array reference in the eye data for the right eye
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// Basic unit of time a frame is displayed
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#define FRAME_TIME 100 ///< minimum animation time
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/**
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* Robot Eyes Class.
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* This class manages the displayed of animated eyes using LED matrices using the functions
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* provided by the MD_MAX72xx library.
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*/
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class MD_RobotEyes
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{
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public:
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/**
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* Emotions enumerated type.
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*
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* This enumerated type defines the emotion animations
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* available in the class for the eyes display
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*/
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//
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typedef enum
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{
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E_NONE, ///< placeholder for no emotions, not user selectable
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E_NEUTRAL, ///< eyes in neutral position (no animation)
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E_BLINK, ///< both eyes blink
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E_WINK, ///< one eye blink
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E_LOOK_L, ///< both eyes look left
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E_LOOK_R, ///< both eyes look right
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E_LOOK_U, ///< both eyes look up
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E_LOOK_D, ///< both eyes look down
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E_ANGRY, ///< eyes look angry (symmetrical)
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E_SAD, ///< eyes look sad (symmetrical)
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E_EVIL, ///< eyes look evil (symmetrical)
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E_EVIL2, ///< eyes look evil (asymmetrical)
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E_SQUINT, ///< both eye squint
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E_DEAD, ///< eyes indicate dead (different)
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E_SCAN_UD, ///< both eyes scanning Up/Down
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E_SCAN_LR, ///< both eyes scanning Left/Right
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} emotion_t;
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/**
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* Class Constructor.
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*
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* Instantiate a new instance of the class.
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*/
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MD_RobotEyes(void);
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/**
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* Class Destructor.
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*
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* Released any allocated memory and does the necessary to clean
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* up once the object is no longer required.
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*/
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~MD_RobotEyes(void) { };
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/**
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* Initialize the object.
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*
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* Initialize the object data. This needs to be called during setup() to initialize new
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* data for the class that cannot be done during the object creation.
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*
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* Outside of the class, the MD_MAX72xx library should be initialized and the pointer
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* to the MD_MAX72xx object passed to the parameter. Also, as the eyes could be in the
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* middle of a string of LED modules, the first 'eye' module can be specified.
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*
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* /param M pointer to the MD_MAX72xx library object.
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* /param moduleStart the first 'eye' LED module. Defaults to 0 if not specified.
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*/
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void begin(MD_MAX72XX *M, uint8_t moduleStart = 0);
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/**
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* Set the animation type and parameters.
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*
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* Set the next animations to the specified. Additionally, set whether the animation should
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* auto reverse the action (eg, blink down then back up again) and whether the animation
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* should be run in reverse.
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*
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* Animations are generally symmetric, so only half the animation needs to be specified.
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* If an animated expression needs to be held, the animation should be run without auto
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* reverse, which holds the animation at the end point, and then later run the animation
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* in reverse from the last position to return to the idle state.
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*
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* \param e the type of emotion to be displayed, one of the emotion_T enumerated values.
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* \param r if true, run auto reverse.
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* \param b if true, start the animation from the end of the sequence.
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*/
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inline void setAnimation(emotion_t e, bool r, bool b = false) { _nextEmotion = e; _autoReverse = r; _animReverse = b; };
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/**
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* Set the blink time.
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*
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* When no animation is running and AutoBlink is set, the eyes will occasionally blink.
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* Set the minimum time period between blinks. A blink will occur a random time after this.
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*
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* \param t the minimum time between blinking actions in milliseconds.
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*/
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inline void setBlinkTime(uint16_t t) { _timeBlinkMinimum = t; };
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/**
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* Set or reset auto blink mode.
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*
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* When no animation is running and AutoBlink is set, the eyes will occasionally blink.
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*
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* \param b set auto blink if true, reset auto blink if false.
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*/
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inline void setAutoBlink(bool b) { _autoBlink = b; };
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/**
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* Display a text message.
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*
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* At the end of the current animation, the text will be scrolled across the 'eyes'
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* and then the eyes are returned to the neutral expression
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*
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* \param p a pointer to a char array containing a nul terminated string.
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The string must remain in scope while the message is being displayed.
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*/
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inline bool setText(char *pText) { if (_pText != nullptr) return(false); else _pText = pText; return(true); };
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/**
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* Animate the display.
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*
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* This method needs to be invoked as often as possible to ensure smooth animation.
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*
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* The calling program should monitor the return value for 'true' in order to know when
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* the animation has concluded. A 'true' return value means that the animation is complete.
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*
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* \return bool true if the animation has completed, false otherwise.
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*/
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bool runAnimation(void);
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protected:
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// Animations FSM state
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typedef enum
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{
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S_IDLE,
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S_RESTART,
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S_ANIMATE,
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S_PAUSE,
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S_TEXT,
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} animState_t;
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// Define an animation frame
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typedef struct animFrame_t
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{
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uint8_t eyeData[2]; // [LEFT_MODULE_OFFSET] and [RIGHT_MODULE_OFFSET] eye character from font data
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uint16_t timeFrame; // time for this frame in milliseconds
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};
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// Define an entry in the animation sequence lookup table
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typedef struct
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{
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emotion_t e;
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animFrame_t *seq;
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uint8_t size;
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} animTable_t;
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// Display parameters
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MD_MAX72XX *_M;
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uint16_t _sd; // start module for the display
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// Animation parameters
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uint32_t _timeStartPause;
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uint32_t _timeLastAnimation;
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uint16_t _timeBlinkMinimum;
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animState_t _animState;
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bool _autoBlink;
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uint16_t _scrollDelay;
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// Animation control data
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animTable_t _animEntry; // record with animation sequence parameters
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int8_t _animIndex; // current index in the animation sequence
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bool _animReverse; // true = reverse sequence, false = normal sequence
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bool _autoReverse; // true = always play the reverse, false = selected direction only
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emotion_t _nextEmotion; // the next emotion to display
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char * _pText; // pointer to text data in user code. Not null means there is text to print
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// Methods
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void loadEye(uint8_t module, uint8_t ch);
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void drawEyes(uint8_t L, uint8_t R);
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uint8_t loadSequence(emotion_t e); // return the size of the sequence
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void loadFrame(animFrame_t* pBuf);
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void showText(bool bInit = false);
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void dumpSequence(const animFrame_t* pBuf, uint8_t numElements); // debugging routine only
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// Static data tables
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static const animFrame_t seqBlink[], seqWink[];
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static const animFrame_t seqLeft[], seqRight[], seqUp[], seqDown[];
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static const animFrame_t seqAngry[], seqSad[], seqEvil[], seqEvil2[];
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static const animFrame_t seqSquint[], seqDead[];
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static const animFrame_t seqScanUpDown[], seqScanLeftRight[];
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// Lookup table to find animation
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static const animTable_t lookupTable[];
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};
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