岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/OverCome/OverCome.h@43:2ed84f3558c1, 2019-03-06 (annotated)

Committer:
shimizuta
Date:
Wed Mar 06 12:13:46 2019 +0000
Revision:
43:2ed84f3558c1
Parent:
35:b4e1b8f25cd7
Child:
50:36741e8ab197
moved 3/06

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 35:b4e1b8f25cd7 1 #ifndef INCLUDED_OVERCOME_H
shimizuta 35:b4e1b8f25cd7 2 #define INCLUDED_OVERCOME_H
shimizuta 35:b4e1b8f25cd7 3 #include "Walk.h"
shimizuta 35:b4e1b8f25cd7 4 enum LegNum //足とシリアルサーボの番号
shimizuta 35:b4e1b8f25cd7 5 {
shimizuta 35:b4e1b8f25cd7 6 RIGHT_B,
shimizuta 35:b4e1b8f25cd7 7 RIGHT_F,
shimizuta 35:b4e1b8f25cd7 8 LEFT_B,
shimizuta 35:b4e1b8f25cd7 9 LEFT_F,
shimizuta 35:b4e1b8f25cd7 10 };
shimizuta 35:b4e1b8f25cd7 11 class OverCome
shimizuta 35:b4e1b8f25cd7 12 {
shimizuta 35:b4e1b8f25cd7 13 float start_x_m_[4]; //足のスタートx
shimizuta 35:b4e1b8f25cd7 14 float start_y_m_[4]; //足のスタートy
shimizuta 35:b4e1b8f25cd7 15 float d_x_m_; //目標地点までのx
shimizuta 35:b4e1b8f25cd7 16 float goal_y_m_[4]; //目標地点までのy
shimizuta 35:b4e1b8f25cd7 17 float height_m_[4];
shimizuta 35:b4e1b8f25cd7 18 float gravity_dist_[4]; //重心ずらし距離
shimizuta 35:b4e1b8f25cd7 19 float d_time_; //各動きの時間
shimizuta 35:b4e1b8f25cd7 20 float d_time_slow_;
shimizuta 43:2ed84f3558c1 21 float raise_offset_x_m_[4];//raiseするときにずらすx_m
shimizuta 35:b4e1b8f25cd7 22 int next_point_; //次のparamのindex
shimizuta 35:b4e1b8f25cd7 23 LineParam legs_[4][30]; //多めに
shimizuta 35:b4e1b8f25cd7 24 void Rise(int legnum);
shimizuta 35:b4e1b8f25cd7 25 void Land(int legnum);
shimizuta 35:b4e1b8f25cd7 26 void Forward(int legnum);
shimizuta 35:b4e1b8f25cd7 27 void Step(int legnum);
shimizuta 35:b4e1b8f25cd7 28 void GravityMove(int legnum);
shimizuta 35:b4e1b8f25cd7 29 void StartPoint();
shimizuta 35:b4e1b8f25cd7 30 void GoalPoint();
shimizuta 35:b4e1b8f25cd7 31 void GetLine();
shimizuta 35:b4e1b8f25cd7 32
shimizuta 35:b4e1b8f25cd7 33 public:
shimizuta 35:b4e1b8f25cd7 34 Walk walk;
shimizuta 35:b4e1b8f25cd7 35 OverCome(float start_x_m[4], float start_y_m[4],
shimizuta 43:2ed84f3558c1 36 float d_x_m, float goal_y_m[4], float height_m[4],
shimizuta 43:2ed84f3558c1 37 float gravity_dist[4], OneLeg legs[4], float raise_offset_x_m[4]);
shimizuta 35:b4e1b8f25cd7 38 };
shimizuta 35:b4e1b8f25cd7 39 #endif