Diff: Sequences.cpp

Revision:

18:224289104fc0

Parent:

13:ffeff9b5e513

Child:

19:2f0ec9ac1238

--- a/Sequences.cpp	Fri Jan 22 01:35:07 2016 +0000
+++ b/Sequences.cpp	Sat Jan 23 00:08:30 2016 +0000
@@ -7,37 +7,37 @@
 const float NoMove = -1.0f;
 
 
-vector<ActionSequence*> UpDownSeq;
-vector<ActionSequence*> UpTwistSeq;
-vector<ActionSequence*> StartSeq;
-vector<ActionSequence*> WaveSeq;
-vector<ActionSequence*> TapsSeq;
-vector<ActionSequence*> BigWaveSeq;
+vector<const ActionSequence*> UpDownSeq;
+vector<const ActionSequence*> UpTwistSeq;
+vector<const ActionSequence*> StartSeq;
+vector<const ActionSequence*> WaveSeq;
+vector<const ActionSequence*> TapsSeq;
+vector<const ActionSequence*> BigWaveSeq;
 
-const float upPositions[] = { UpPos, UpPos, UpPos, UpPos, UpPos };
-const float downPositions[] = { RightPos, 120.0f, 240.0f, 150.0f, 240.0f };
-const float homePositions[] = { RightPos, 225.0f, 270.0f, 135.0f, UpPos };
-const float waveUpPositions[] = { NoMove, NoMove, NoMove, NoMove, 135.0f };
-const float waveDownPositions[] = { NoMove, NoMove, NoMove, NoMove, 225.0f };
-const float waveMiddlePositions[] = { NoMove, NoMove, NoMove, NoMove, 180.0f };
-const float bigwaveUpPositions[] = { NoMove, 135.0f, NoMove, NoMove, NoMove };
-const float bigwaveDownPositions[] = { NoMove, 225.0f, NoMove, NoMove, NoMove };
-    
-const float tapStartPositions[] = { RightPos, 180.0f, 270.0f, 180.0f, 180.0f };
-const float tap1Positions[] = { 60.2f, NoMove, NoMove, NoMove, NoMove };
-const float tap2Positions[] = { 68.7f, NoMove, NoMove, NoMove, NoMove };
-const float tap3Positions[] = { 77.2f, NoMove, NoMove, NoMove, NoMove };
-const float tap4Positions[] = { 85.7f, NoMove, NoMove, NoMove, NoMove };
-const float tap5Positions[] = { 94.2f, NoMove, NoMove, NoMove, NoMove };
-const float tap6Positions[] = { 102.7f, NoMove, NoMove, NoMove, NoMove };
-const float tap7Positions[] = { 111.2f, NoMove, NoMove, NoMove, NoMove };
-const float tap8Positions[] = { 119.7f, NoMove, NoMove, NoMove, NoMove };
-    
 
 void MakeSequences(int partSize)
 {
+    float upPositions[] = { UpPos, UpPos, UpPos, UpPos, UpPos };
+    float downPositions[] = { RightPos, 120.0f, 240.0f, 150.0f, 240.0f };
+    float homePositions[] = { RightPos, 225.0f, 270.0f, 135.0f, UpPos };
+    float waveUpPositions[] = { NoMove, NoMove, NoMove, NoMove, 135.0f };
+    float waveDownPositions[] = { NoMove, NoMove, NoMove, NoMove, 225.0f };
+    float waveMiddlePositions[] = { NoMove, NoMove, NoMove, NoMove, 180.0f };
+    float bigwaveUpPositions[] = { NoMove, 135.0f, NoMove, NoMove, NoMove };
+    float bigwaveDownPositions[] = { NoMove, 225.0f, NoMove, NoMove, NoMove };
+    
+    float tapStartPositions[] = { RightPos, 180.0f, 270.0f, 180.0f, 180.0f };
+    float tap1Positions[] = { 60.2f, NoMove, NoMove, NoMove, NoMove };
+    float tap2Positions[] = { 68.7f, NoMove, NoMove, NoMove, NoMove };
+    float tap3Positions[] = { 77.2f, NoMove, NoMove, NoMove, NoMove };
+    float tap4Positions[] = { 85.7f, NoMove, NoMove, NoMove, NoMove };
+    float tap5Positions[] = { 94.2f, NoMove, NoMove, NoMove, NoMove };
+    float tap6Positions[] = { 102.7f, NoMove, NoMove, NoMove, NoMove };
+    float tap7Positions[] = { 111.2f, NoMove, NoMove, NoMove, NoMove };
+    float tap8Positions[] = { 119.7f, NoMove, NoMove, NoMove, NoMove };
+    
     // define actions
-    ActionSequence* moveStart = new ActionSequence(SA_SetGoal, partSize, homePositions, 1500);
+    ActionSequence* moveStart = new ActionSequence(SA_SetGoal, NUMJOINTS, homePositions, 1500);
     ActionSequence* moveUp = new ActionSequence(SA_SetGoal, partSize, upPositions, 1500);
     ActionSequence* moveDown = new ActionSequence(SA_SetGoal, partSize, downPositions, 1000);
     ActionSequence* waveUp = new ActionSequence(SA_SetGoal, partSize, waveUpPositions, 1000);