Diff: Walk/OverCome/OverCome.h

Revision:

35:b4e1b8f25cd7

Child:

43:2ed84f3558c1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Walk/OverCome/OverCome.h	Mon Mar 04 09:54:47 2019 +0000
@@ -0,0 +1,38 @@
+#ifndef INCLUDED_OVERCOME_H
+#define INCLUDED_OVERCOME_H
+#include "Walk.h"
+enum LegNum //足とシリアルサーボの番号
+{
+  RIGHT_B,
+  RIGHT_F,
+  LEFT_B,
+  LEFT_F,
+};
+class OverCome
+{
+  float start_x_m_[4]; //足のスタートx
+  float start_y_m_[4]; //足のスタートy
+  float d_x_m_;        //目標地点までのx
+  float goal_y_m_[4];  //目標地点までのy
+  float height_m_[4];
+  float gravity_dist_[4]; //重心ずらし距離
+  float d_time_;          //各動きの時間
+  float d_time_slow_;
+  int next_point_;        //次のparamのindex
+  LineParam legs_[4][30]; //多めに
+  void Rise(int legnum);
+  void Land(int legnum);
+  void Forward(int legnum);
+  void Step(int legnum);
+  void GravityMove(int legnum);
+  void StartPoint();
+  void GoalPoint();
+  void GetLine();
+
+public:
+  Walk walk;
+  OverCome(float start_x_m[4], float start_y_m[4],
+           float d_x_m, float goal_y_m[4], float height_m[4], float gravity_dist[4],
+           OneLeg legs[4]);
+};
+#endif
\ No newline at end of file