test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Walk/OverCome/OverCome.h@50:36741e8ab197, 2019-03-11 (annotated)
- Committer:
- shimizuta
- Date:
- Mon Mar 11 10:38:07 2019 +0000
- Revision:
- 50:36741e8ab197
- Parent:
- 43:2ed84f3558c1
a
Who changed what in which revision?
User | Revision | Line number | New 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 | 50:36741e8ab197 | 21 | float raise_offset_x_m_[4]; //raiseするときにずらすx_m |
shimizuta | 50:36741e8ab197 | 22 | int next_point_; //次のparamのindex |
shimizuta | 50:36741e8ab197 | 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 | 50:36741e8ab197 | 36 | float d_x_m, float goal_y_m[4], float height_m[4], float gravity_dist[4], |
shimizuta | 50:36741e8ab197 | 37 | OneLeg legs[4], float raise_offset_x_m[4], float d_time, float d_time_slow); |
shimizuta | 35:b4e1b8f25cd7 | 38 | }; |
shimizuta | 35:b4e1b8f25cd7 | 39 | #endif |