Julia DESMAZES / Mbed 2 deprecated Hexapode

Sorfware for Lexy ( Hexapode )

Dependencies:   mbed BLE_API X_NUCLEO_IDB0XA1 MODSERIAL

SERVO/Motors.cpp@5:58acbceb4f9e, 2016-08-20 (annotated)

Committer:
Essenceia
Date:
Sat Aug 20 19:21:54 2016 +0000
Revision:
5:58acbceb4f9e
Parent:
1:8bab9152933e 
Now needs to be debugger;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Essenceia 0:edce82659847 1 #include "Motors.h"
Essenceia 1:8bab9152933e 2 #include "LOGGER.h"
Essenceia 1:8bab9152933e 3
Essenceia 1:8bab9152933e 4 Motors::Motors(char t, bool mid)
Essenceia 1:8bab9152933e 5 {
Essenceia 0:edce82659847 6
Essenceia 1:8bab9152933e 7 if(t<3) {
Essenceia 1:8bab9152933e 8 type=t;
Essenceia 1:8bab9152933e 9 middel=mid;
Essenceia 1:8bab9152933e 10 //on rempli les angles sellon le type
Essenceia 1:8bab9152933e 11 switch(type) {
Essenceia 1:8bab9152933e 12 case COAX:
Essenceia 1:8bab9152933e 13 if(middel) {
Essenceia 1:8bab9152933e 14 libre[0]=COAX_D1_MIL;
Essenceia 1:8bab9152933e 15 libre[1]=COAX_D2_MIL;
Essenceia 1:8bab9152933e 16 } else {
Essenceia 1:8bab9152933e 17 libre[0]=COAX_D1;
Essenceia 1:8bab9152933e 18 libre[1]=COAX_D2;
Essenceia 1:8bab9152933e 19 }
Essenceia 1:8bab9152933e 20 break;
Essenceia 1:8bab9152933e 21 case FEMUR:
Essenceia 1:8bab9152933e 22 libre[0]=FEMUR_D1;
Essenceia 1:8bab9152933e 23 libre[1]=FEMUR_D2;
Essenceia 1:8bab9152933e 24 break;
Essenceia 1:8bab9152933e 25 case TIBIA:
Essenceia 1:8bab9152933e 26 libre[0]=TIBIA_D1;
Essenceia 1:8bab9152933e 27 libre[1]=TIBIA_D2;
Essenceia 1:8bab9152933e 28 break;
Essenceia 1:8bab9152933e 29 }
Essenceia 1:8bab9152933e 30 } else Logger::Instance()->log("Erreur, le type donner est invalide");
Essenceia 1:8bab9152933e 31 }
Essenceia 1:8bab9152933e 32 Motors::~Motors()
Essenceia 1:8bab9152933e 33 {
Essenceia 1:8bab9152933e 34 };
Essenceia 1:8bab9152933e 35
Essenceia 1:8bab9152933e 36 char Motors::get_type()
Essenceia 1:8bab9152933e 37 {
Essenceia 1:8bab9152933e 38 return type;
Essenceia 1:8bab9152933e 39 }
Essenceia 1:8bab9152933e 40
Essenceia 1:8bab9152933e 41 bool Motors::is_valide_pos(int pos, bool D)
Essenceia 1:8bab9152933e 42 {
Essenceia 1:8bab9152933e 43 int i=1;
Essenceia 1:8bab9152933e 44 if(D) i=0;
Essenceia 1:8bab9152933e 45 if(pos>libre[i])return true;
Essenceia 1:8bab9152933e 46 else return false;
Essenceia 1:8bab9152933e 47
Essenceia 1:8bab9152933e 48 }