Calum Johnston / Tripod

Group of 3 hexapod legs

Dependents:   Hexapod_Library

Tripod.h@6:186be62ba115, 2016-05-11 (annotated)

Committer:
el13cj
Date:
Wed May 11 13:31:21 2016 +0000
Revision:
6:186be62ba115
Parent:
5:b37ae852304f 
working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 0:22d279b8c2f1 1 #ifndef HEXAPOD_LEG_GROUP_H
el13cj 0:22d279b8c2f1 2 #define HEXAPOD_LEG_GROUP_H
el13cj 0:22d279b8c2f1 3
el13cj 6:186be62ba115 4 #define NUM_STEPS 20
el13cj 6:186be62ba115 5 #define STEP_DELAY 0.015
el13cj 4:28821e248538 6
el13cj 0:22d279b8c2f1 7 #include "mbed.h"
el13cj 0:22d279b8c2f1 8 #include "PCA9685.h"
el13cj 0:22d279b8c2f1 9 #include "HEXAPOD_LEG.h"
el13cj 6:186be62ba115 10 #include "angles_9.h"
el13cj 6:186be62ba115 11 #include "global_definitions.h"
el13cj 0:22d279b8c2f1 12
el13cj 0:22d279b8c2f1 13 class Tripod {
el13cj 0:22d279b8c2f1 14
el13cj 0:22d279b8c2f1 15 public:
el13cj 5:b37ae852304f 16 Tripod(PCA9685 Board, Hexapod_Leg Leg_1, Hexapod_Leg Leg_2, Hexapod_Leg Leg_3, int group, int start_point);
el13cj 0:22d279b8c2f1 17 void gait_smooth(void);
el13cj 0:22d279b8c2f1 18 void gait_step(void);
el13cj 3:97561b972647 19 void set_gait_start(int start_point);
el13cj 6:186be62ba115 20 void set_direction(int dir);
el13cj 6:186be62ba115 21
el13cj 6:186be62ba115 22 public:
el13cj 6:186be62ba115 23 //int direction;
el13cj 6:186be62ba115 24
el13cj 0:22d279b8c2f1 25
el13cj 0:22d279b8c2f1 26 private:
el13cj 0:22d279b8c2f1 27 void sweep_step_group(void);
el13cj 0:22d279b8c2f1 28
el13cj 0:22d279b8c2f1 29
el13cj 0:22d279b8c2f1 30 private:
el13cj 0:22d279b8c2f1 31 Hexapod_Leg leg_1;
el13cj 0:22d279b8c2f1 32 Hexapod_Leg leg_2;
el13cj 0:22d279b8c2f1 33 Hexapod_Leg leg_3;
el13cj 0:22d279b8c2f1 34 int group_number;
el13cj 0:22d279b8c2f1 35 PCA9685 board;
el13cj 0:22d279b8c2f1 36
el13cj 3:97561b972647 37 int current_state;
el13cj 3:97561b972647 38 int next_state;
el13cj 0:22d279b8c2f1 39
el13cj 6:186be62ba115 40
el13cj 6:186be62ba115 41
el13cj 4:28821e248538 42 int i;
el13cj 4:28821e248538 43
el13cj 0:22d279b8c2f1 44 Ticker group_ticker;
el13cj 0:22d279b8c2f1 45
el13cj 0:22d279b8c2f1 46 };
el13cj 4:28821e248538 47
el13cj 0:22d279b8c2f1 48 #endif