Yann John / Alex

a simple library to control an animatronic head

Alex.cpp@3:5271cc1a527b, 2010-12-15 (annotated)

Committer:
mxjac
Date:
Wed Dec 15 16:08:37 2010 +0000
Revision:
3:5271cc1a527b
Parent:
2:3920d79c79b1
Child:
4:45d466252fb6
presence to cloese

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mxjac 0:8474cbec06bd 1 #include "Alex.h"
mxjac 0:8474cbec06bd 2
mxjac 1:c5edd3b18b79 3 Alex::Alex(SRF05 s, Servo e, Servo m, Servo l, Servo r):S(s), E(e), M(m), L(l), R(r), Led(LED1), pc(USBTX, USBRX)
mxjac 0:8474cbec06bd 4 {
mxjac 0:8474cbec06bd 5 }
mxjac 0:8474cbec06bd 6 Alex::~Alex()
mxjac 0:8474cbec06bd 7 {
mxjac 0:8474cbec06bd 8 }
mxjac 0:8474cbec06bd 9 void Alex::TestHead()
mxjac 0:8474cbec06bd 10 {
mxjac 0:8474cbec06bd 11 Led=1;
mxjac 0:8474cbec06bd 12 wait(0.02);
mxjac 0:8474cbec06bd 13 Led=0;
mxjac 0:8474cbec06bd 14 }
mxjac 0:8474cbec06bd 15 int Alex::Testpresence()
mxjac 0:8474cbec06bd 16 {
mxjac 0:8474cbec06bd 17 if((S.read()==0)||(S.read()>=500)){return 0;}//if presence is too close, return 0
mxjac 0:8474cbec06bd 18 if(S.read()>=40){return 1;}//if presence is too far, return 1
mxjac 0:8474cbec06bd 19 if((S.read()>=0)&&(S.read()<=40)){return 2;}//if presence is between O and 40cm, return 2
mxjac 0:8474cbec06bd 20 return 0;
mxjac 0:8474cbec06bd 21 }
mxjac 0:8474cbec06bd 22 void Alex::Move_eyes(int valuee)
mxjac 0:8474cbec06bd 23 {
mxjac 0:8474cbec06bd 24 for(int i=0; i<valuee; i++)
mxjac 0:8474cbec06bd 25 {
mxjac 0:8474cbec06bd 26 E=i;
mxjac 0:8474cbec06bd 27 wait(0.1);
mxjac 0:8474cbec06bd 28 }
mxjac 0:8474cbec06bd 29 }
mxjac 0:8474cbec06bd 30 void Alex::Move_mouth(int valuem)
mxjac 0:8474cbec06bd 31 {
mxjac 0:8474cbec06bd 32 for(int i=0; i<valuem; i++)
mxjac 0:8474cbec06bd 33 {
mxjac 0:8474cbec06bd 34 M=i;
mxjac 0:8474cbec06bd 35 wait(0.1);
mxjac 0:8474cbec06bd 36 }
mxjac 0:8474cbec06bd 37 }
mxjac 0:8474cbec06bd 38 void Alex::Move_leaning(int valuel)
mxjac 0:8474cbec06bd 39 {
mxjac 0:8474cbec06bd 40 for(int i=0; i<valuel; i++)
mxjac 0:8474cbec06bd 41 {
mxjac 0:8474cbec06bd 42 L=i;
mxjac 0:8474cbec06bd 43 wait(0.1);
mxjac 0:8474cbec06bd 44 }
mxjac 0:8474cbec06bd 45 }
mxjac 0:8474cbec06bd 46 void Alex::Move_rotation(int valuer)
mxjac 0:8474cbec06bd 47 {
mxjac 0:8474cbec06bd 48 for(int i=0; i<valuer; i++)
mxjac 0:8474cbec06bd 49 {
mxjac 0:8474cbec06bd 50 R=i;
mxjac 0:8474cbec06bd 51 wait(0.1);
mxjac 0:8474cbec06bd 52 }
mxjac 1:c5edd3b18b79 53 }
mxjac 1:c5edd3b18b79 54 void Alex::Simulate_Talking(int length)
mxjac 1:c5edd3b18b79 55 {
mxjac 1:c5edd3b18b79 56 for(int i=0; i<length; i++)
mxjac 1:c5edd3b18b79 57 {
mxjac 1:c5edd3b18b79 58 Move_mouth(100);
mxjac 1:c5edd3b18b79 59 wait(0.01);
mxjac 1:c5edd3b18b79 60 }
mxjac 1:c5edd3b18b79 61 }
mxjac 1:c5edd3b18b79 62
mxjac 1:c5edd3b18b79 63 void Alex::Presence_too_far()
mxjac 1:c5edd3b18b79 64 {
mxjac 1:c5edd3b18b79 65 pc.printf("You are too far, I can't see you !");
mxjac 1:c5edd3b18b79 66 Simulate_Talking(4);
mxjac 1:c5edd3b18b79 67 wait(3);
mxjac 1:c5edd3b18b79 68 pc.printf("Is there somebody ?");
mxjac 1:c5edd3b18b79 69 Simulate_Talking(4);
mxjac 1:c5edd3b18b79 70 wait(3);
mxjac 2:3920d79c79b1 71 }
mxjac 2:3920d79c79b1 72 void Alex::displaydistance()
mxjac 2:3920d79c79b1 73 {
mxjac 2:3920d79c79b1 74 pc.printf("Distance : %4i\r\n", S.read());
mxjac 3:5271cc1a527b 75 }
mxjac 3:5271cc1a527b 76
mxjac 3:5271cc1a527b 77 void Alex::Presence_too_close()
mxjac 3:5271cc1a527b 78 {
mxjac 3:5271cc1a527b 79 pc.printf("You are too close, please move back");
mxjac 3:5271cc1a527b 80 Simulate_Talking(4);
mxjac 3:5271cc1a527b 81 wait(3);
mxjac 0:8474cbec06bd 82 }