Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

CtrlBridge

  • fonction quelquonque pour communiquer avec les module
  • fonction quelquonque pour faire des recherche dans les module dispo
  • autre fonction pour jouer avec MemRegistre

Version 1.2.0

  • Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32

source/Motrice/homemadeSequence.cpp@19:0ac80045ba4c, 2015-04-27 (annotated)

Committer:
salco
Date:
Mon Apr 27 20:41:21 2015 +0000
Revision:
19:0ac80045ba4c
Parent:
2:4c5b0f6d0a6b
Child:
20:c825e7b07af7
modification de homemade s?quence pour simplifier le codage et la modification future des s?quence si besoin est.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 0:e4151abdff23 1 /*
salco 0:e4151abdff23 2 * homemadeSequence.cpp
salco 0:e4151abdff23 3 *
salco 0:e4151abdff23 4 * Created on: Mar 03, 2015
salco 0:e4151abdff23 5 * Author: salco
salco 0:e4151abdff23 6 */
salco 0:e4151abdff23 7 #include "homemadeSequence.h"
salco 19:0ac80045ba4c 8 unsigned char table_seqUp[9][2][3] = { { {80 , 210, 160}, {220, 90 , 114} },
salco 19:0ac80045ba4c 9 { {80 , 220, 170}, {220, 80 , 130} },
salco 19:0ac80045ba4c 10 { {90 , 220, 160}, {200, 80 , 140} },
salco 19:0ac80045ba4c 11 { {106, 220, 150}, {194, 80 , 150} },
salco 19:0ac80045ba4c 12 { {128, 220, 127}, {172, 80 , 173} },
salco 19:0ac80045ba4c 13 { {144, 205, 130}, {156, 95 , 170} },
salco 19:0ac80045ba4c 14 { {144, 210, 123}, {156, 89 , 177} },
salco 19:0ac80045ba4c 15 { {172, 185, 124}, {128, 115, 176} },
salco 19:0ac80045ba4c 16 { {194, 166, 118}, {106, 134, 182} } };
salco 19:0ac80045ba4c 17
salco 19:0ac80045ba4c 18 unsigned char table_seqDown[9][2][3] = { { {172, 185, 124}, {128, 115, 176} },
salco 19:0ac80045ba4c 19 { {172, 185, 124}, {128, 115, 176} },
salco 19:0ac80045ba4c 20 { {144, 210, 123}, {156, 89 , 177} },
salco 19:0ac80045ba4c 21 { {144, 205, 130}, {156, 95 , 170} },
salco 19:0ac80045ba4c 22 { {128, 220, 127}, {172, 80 , 173} },
salco 19:0ac80045ba4c 23 { {106, 220, 150}, {194, 80 , 150} },
salco 19:0ac80045ba4c 24 { {90 , 220, 160}, {200, 80 , 140} },
salco 19:0ac80045ba4c 25 { {80 , 220, 170}, {220, 80 , 130} },
salco 19:0ac80045ba4c 26 { {80 , 100, 150}, {220, 200, 150} } };//fin de la seq il met ses patte sur sa tete**
salco 19:0ac80045ba4c 27 /*unsigned char table_seqUpDown[9][8][4] = { { {140, 80, 210, 160}, {165, 80, 210, 160}, {160, 80, 210, 160}, {150, 80, 210, 160},
salco 19:0ac80045ba4c 28 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 29 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 30 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 31 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 32 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 33 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 34 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 35 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 36 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 37 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 38 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 39 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 40 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 41 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 42 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 43 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 44 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/
salco 0:e4151abdff23 45 homemadeSequence::homemadeSequence()
salco 0:e4151abdff23 46 {
salco 19:0ac80045ba4c 47 m_SequenceChosen=0;
salco 19:0ac80045ba4c 48 m_idFrame=0;
salco 0:e4151abdff23 49 }
salco 0:e4151abdff23 50 homemadeSequence::~homemadeSequence()
salco 0:e4151abdff23 51 {
salco 0:e4151abdff23 52
salco 0:e4151abdff23 53 }
salco 0:e4151abdff23 54 unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg)
salco 0:e4151abdff23 55 {
salco 19:0ac80045ba4c 56 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame");
salco 0:e4151abdff23 57 m_posLeg[0] = 0;
salco 0:e4151abdff23 58 m_posLeg[1] = 0;
salco 0:e4151abdff23 59 m_posLeg[2] = 0;
salco 0:e4151abdff23 60 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 61 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg);
salco 19:0ac80045ba4c 62 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen);
salco 19:0ac80045ba4c 63 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame);
salco 0:e4151abdff23 64 switch(m_SequenceChosen) {
salco 0:e4151abdff23 65 case 1:// 01 - Calibration(milieu) //
salco 0:e4151abdff23 66 if(m_idFrame == 1) {//if(idOperation == 1) {
salco 0:e4151abdff23 67 m_posLeg[0] = 150;
salco 0:e4151abdff23 68 m_posLeg[1] = 150;
salco 0:e4151abdff23 69 m_posLeg[2] = 150;
salco 0:e4151abdff23 70 m_posLeg[3] = 150;
salco 19:0ac80045ba4c 71 } else {
salco 19:0ac80045ba4c 72 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 73 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 74 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 75 m_posLeg[3] = 0;
salco 0:e4151abdff23 76 }
salco 0:e4151abdff23 77 break;
salco 0:e4151abdff23 78
salco 0:e4151abdff23 79 case 2:// 02 - Debout //
salco 0:e4151abdff23 80 seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg);
salco 0:e4151abdff23 81 break;
salco 0:e4151abdff23 82 case 3:// 03 - Coucher //
salco 0:e4151abdff23 83 seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg);
salco 0:e4151abdff23 84 break;
salco 0:e4151abdff23 85 case 4:// 04 - Tourne Gauche //
salco 0:e4151abdff23 86 break;
salco 0:e4151abdff23 87 case 5:// 05 - Tourne Droite //
salco 0:e4151abdff23 88 break;
salco 0:e4151abdff23 89 case 6:// 06 - Marche //
salco 0:e4151abdff23 90 break;
salco 0:e4151abdff23 91 case 7:// 07 - Recule //
salco 0:e4151abdff23 92 break;
salco 0:e4151abdff23 93 case 8:// 07 - Repositioner //
salco 0:e4151abdff23 94 break;
salco 0:e4151abdff23 95 case 9:// 09 - Crabe Gauche //
salco 0:e4151abdff23 96 break;
salco 0:e4151abdff23 97 case 10:// 10 - Crabe Droite //
salco 0:e4151abdff23 98 break;
salco 0:e4151abdff23 99 }
salco 19:0ac80045ba4c 100 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r posLeg: [0]:%i, [1]:%i, [2]:%i, [3]:%i,",m_posLeg[0],m_posLeg[1],m_posLeg[2],m_posLeg[3]);
salco 19:0ac80045ba4c 101 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame");
salco 0:e4151abdff23 102 return m_posLeg;
salco 0:e4151abdff23 103 }
salco 0:e4151abdff23 104
salco 0:e4151abdff23 105 void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg)
salco 0:e4151abdff23 106 {
salco 0:e4151abdff23 107 if((idOperation<10)&&(idOperation>0)) {
salco 19:0ac80045ba4c 108 switch(idLeg) { //moving hips
salco 0:e4151abdff23 109 case 1:
salco 0:e4151abdff23 110 m_posLeg[0] = 140;
salco 0:e4151abdff23 111 break;
salco 0:e4151abdff23 112 case 2:
salco 0:e4151abdff23 113 m_posLeg[0] = 165;
salco 0:e4151abdff23 114 break;
salco 0:e4151abdff23 115 case 3:
salco 0:e4151abdff23 116 m_posLeg[0] = 160;
salco 0:e4151abdff23 117 break;
salco 0:e4151abdff23 118 case 6:
salco 0:e4151abdff23 119 m_posLeg[0] = 133;
salco 0:e4151abdff23 120 break;
salco 0:e4151abdff23 121 case 7:
salco 0:e4151abdff23 122 m_posLeg[0] = 170;
salco 0:e4151abdff23 123 break;
salco 0:e4151abdff23 124 default:
salco 0:e4151abdff23 125 m_posLeg[0] = 150;
salco 0:e4151abdff23 126 break;
salco 0:e4151abdff23 127 }
salco 19:0ac80045ba4c 128 if(downUP)
salco 19:0ac80045ba4c 129 {
salco 19:0ac80045ba4c 130 if(idLeg<5)
salco 19:0ac80045ba4c 131 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 132 else
salco 19:0ac80045ba4c 133 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1];
salco 19:0ac80045ba4c 134 }
salco 19:0ac80045ba4c 135 else
salco 19:0ac80045ba4c 136 {
salco 19:0ac80045ba4c 137 if(idLeg<5)
salco 19:0ac80045ba4c 138 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 139 else
salco 19:0ac80045ba4c 140 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1];
salco 19:0ac80045ba4c 141 }
salco 19:0ac80045ba4c 142 /*if(idOperation == 1) {
salco 0:e4151abdff23 143 if(idLeg<5) {
salco 0:e4151abdff23 144 m_posLeg[1] = 80;
salco 0:e4151abdff23 145 m_posLeg[2] = 210;
salco 0:e4151abdff23 146 m_posLeg[3] = 160;
salco 0:e4151abdff23 147 } else {
salco 0:e4151abdff23 148 m_posLeg[1] = 220;
salco 0:e4151abdff23 149 m_posLeg[2] = 90;
salco 0:e4151abdff23 150 m_posLeg[3] = 114;
salco 0:e4151abdff23 151 }
salco 0:e4151abdff23 152
salco 0:e4151abdff23 153 } else {
salco 0:e4151abdff23 154 if(!downUP) {
salco 0:e4151abdff23 155 if(idOperation == 9) {
salco 0:e4151abdff23 156 if(idLeg<5) {
salco 0:e4151abdff23 157 m_posLeg[1] = 80;
salco 0:e4151abdff23 158 m_posLeg[2] = 100;
salco 0:e4151abdff23 159 m_posLeg[3] = 150;
salco 0:e4151abdff23 160 } else {
salco 0:e4151abdff23 161 m_posLeg[1] = 220;
salco 0:e4151abdff23 162 m_posLeg[2] = 200;
salco 0:e4151abdff23 163 m_posLeg[3] = 150;
salco 0:e4151abdff23 164 }
salco 0:e4151abdff23 165 }
salco 0:e4151abdff23 166 idOperation = 10 - idOperation;
salco 0:e4151abdff23 167 }
salco 0:e4151abdff23 168
salco 0:e4151abdff23 169 switch(idOperation) {
salco 19:0ac80045ba4c 170 case 1:
salco 0:e4151abdff23 171
salco 19:0ac80045ba4c 172 break;
salco 0:e4151abdff23 173 case 2:
salco 0:e4151abdff23 174 if(idLeg<5) {
salco 0:e4151abdff23 175 m_posLeg[1] = 80;
salco 0:e4151abdff23 176 m_posLeg[2] = 220;
salco 0:e4151abdff23 177 m_posLeg[3] = 170;
salco 0:e4151abdff23 178 } else {
salco 0:e4151abdff23 179 m_posLeg[1] = 220;
salco 0:e4151abdff23 180 m_posLeg[2] = 80;
salco 0:e4151abdff23 181 m_posLeg[3] = 130;
salco 0:e4151abdff23 182 }
salco 0:e4151abdff23 183 break;
salco 0:e4151abdff23 184 case 3:
salco 0:e4151abdff23 185 if(idLeg<5) {
salco 0:e4151abdff23 186 m_posLeg[1] = 90;
salco 0:e4151abdff23 187 m_posLeg[2] = 220;
salco 0:e4151abdff23 188 m_posLeg[3] = 160;
salco 0:e4151abdff23 189 } else {
salco 0:e4151abdff23 190 m_posLeg[1] = 200;
salco 0:e4151abdff23 191 m_posLeg[2] = 200;
salco 0:e4151abdff23 192 m_posLeg[3] = 140;
salco 0:e4151abdff23 193 }
salco 0:e4151abdff23 194 break;
salco 0:e4151abdff23 195 case 4:
salco 0:e4151abdff23 196 if(idLeg<5) {
salco 0:e4151abdff23 197 m_posLeg[1] = 106;
salco 0:e4151abdff23 198 m_posLeg[2] = 220;
salco 0:e4151abdff23 199 m_posLeg[3] = 150;
salco 0:e4151abdff23 200 } else {
salco 0:e4151abdff23 201 m_posLeg[1] = 195;
salco 0:e4151abdff23 202 m_posLeg[2] = 80;
salco 0:e4151abdff23 203 m_posLeg[3] = 150;
salco 0:e4151abdff23 204 }
salco 0:e4151abdff23 205 break;
salco 0:e4151abdff23 206 case 5:
salco 0:e4151abdff23 207 if(idLeg<5) {
salco 0:e4151abdff23 208 m_posLeg[1] = 128;
salco 0:e4151abdff23 209 m_posLeg[2] = 220;
salco 0:e4151abdff23 210 m_posLeg[3] = 128;
salco 0:e4151abdff23 211 } else {
salco 0:e4151abdff23 212 m_posLeg[1] = 172;
salco 0:e4151abdff23 213 m_posLeg[2] = 80;
salco 0:e4151abdff23 214 m_posLeg[3] = 173;
salco 0:e4151abdff23 215 }
salco 0:e4151abdff23 216 break;
salco 0:e4151abdff23 217 case 6:
salco 0:e4151abdff23 218 if(idLeg<5) {
salco 0:e4151abdff23 219 m_posLeg[1] = 144;
salco 0:e4151abdff23 220 m_posLeg[2] = 205;
salco 0:e4151abdff23 221 m_posLeg[3] = 130;
salco 0:e4151abdff23 222 } else {
salco 0:e4151abdff23 223 m_posLeg[1] = 156;
salco 0:e4151abdff23 224 m_posLeg[2] = 95;
salco 0:e4151abdff23 225 m_posLeg[3] = 170;
salco 0:e4151abdff23 226 }
salco 0:e4151abdff23 227 break;
salco 0:e4151abdff23 228 case 7:
salco 0:e4151abdff23 229 if(idLeg<5) {
salco 0:e4151abdff23 230 m_posLeg[1] = 144;
salco 0:e4151abdff23 231 m_posLeg[2] = 211;
salco 0:e4151abdff23 232 m_posLeg[3] = 123;
salco 0:e4151abdff23 233 } else {
salco 0:e4151abdff23 234 m_posLeg[1] = 156;
salco 0:e4151abdff23 235 m_posLeg[2] = 89;
salco 0:e4151abdff23 236 m_posLeg[3] = 177;
salco 0:e4151abdff23 237 }
salco 0:e4151abdff23 238 break;
salco 0:e4151abdff23 239 case 8:
salco 0:e4151abdff23 240 if(idLeg<5) {
salco 0:e4151abdff23 241 m_posLeg[1] = 172;
salco 0:e4151abdff23 242 m_posLeg[2] = 185;
salco 0:e4151abdff23 243 m_posLeg[3] = 124;
salco 0:e4151abdff23 244 } else {
salco 0:e4151abdff23 245 m_posLeg[1] = 128;
salco 0:e4151abdff23 246 m_posLeg[2] = 115;
salco 0:e4151abdff23 247 m_posLeg[3] = 176;
salco 0:e4151abdff23 248 }
salco 0:e4151abdff23 249 break;
salco 0:e4151abdff23 250 case 9:
salco 0:e4151abdff23 251 if(idLeg<5) {
salco 0:e4151abdff23 252 m_posLeg[1] = 194;
salco 0:e4151abdff23 253 m_posLeg[2] = 166;
salco 0:e4151abdff23 254 m_posLeg[3] = 118;
salco 0:e4151abdff23 255 } else {
salco 0:e4151abdff23 256 m_posLeg[1] = 106;
salco 0:e4151abdff23 257 m_posLeg[2] = 134;
salco 0:e4151abdff23 258 m_posLeg[3] = 182;
salco 0:e4151abdff23 259 }
salco 0:e4151abdff23 260 break;
salco 19:0ac80045ba4c 261 default:
salco 19:0ac80045ba4c 262 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 263 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 264 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 265 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 266 break;
salco 0:e4151abdff23 267 }
salco 19:0ac80045ba4c 268 }*/
salco 0:e4151abdff23 269 }
salco 0:e4151abdff23 270 }
salco 0:e4151abdff23 271 void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
salco 0:e4151abdff23 272 {}
salco 0:e4151abdff23 273 void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
salco 0:e4151abdff23 274 {}
salco 0:e4151abdff23 275 void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
salco 0:e4151abdff23 276 {}
salco 0:e4151abdff23 277 void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg)
salco 0:e4151abdff23 278 {}
salco 0:e4151abdff23 279 bool homemadeSequence::next_frame(void)
salco 0:e4151abdff23 280 {
salco 19:0ac80045ba4c 281 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame");
salco 19:0ac80045ba4c 282 bool temp=false;
salco 19:0ac80045ba4c 283 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 284
salco 19:0ac80045ba4c 285 //if(m_idFrame > 1){
salco 0:e4151abdff23 286 m_idFrame++;
salco 19:0ac80045ba4c 287 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 288
salco 19:0ac80045ba4c 289 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{
salco 19:0ac80045ba4c 290 temp=true;
salco 19:0ac80045ba4c 291 //m_idFrame++;//get_frame(m_idFrame);
salco 19:0ac80045ba4c 292 //}
salco 19:0ac80045ba4c 293 else
salco 19:0ac80045ba4c 294 m_idFrame--;
salco 19:0ac80045ba4c 295
salco 19:0ac80045ba4c 296 //}
salco 19:0ac80045ba4c 297 //}
salco 19:0ac80045ba4c 298 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 299 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame");
salco 0:e4151abdff23 300 return temp;
salco 0:e4151abdff23 301 }
salco 19:0ac80045ba4c 302 bool homemadeSequence::prev_frame(void) //true == prev is ok
salco 0:e4151abdff23 303 {
salco 19:0ac80045ba4c 304 //false == impossible
salco 19:0ac80045ba4c 305 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame");
salco 19:0ac80045ba4c 306 bool temp=false;
salco 19:0ac80045ba4c 307 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 308
salco 19:0ac80045ba4c 309 if(m_idFrame > 1) {
salco 19:0ac80045ba4c 310 m_idFrame--;
salco 19:0ac80045ba4c 311 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 312
salco 19:0ac80045ba4c 313 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{
salco 19:0ac80045ba4c 314 temp=true;
salco 19:0ac80045ba4c 315 //m_idFrame++;//get_frame(m_idFrame);
salco 19:0ac80045ba4c 316 //}
salco 19:0ac80045ba4c 317 else
salco 19:0ac80045ba4c 318 m_idFrame++;
salco 19:0ac80045ba4c 319
salco 19:0ac80045ba4c 320 //}
salco 19:0ac80045ba4c 321 }
salco 19:0ac80045ba4c 322 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 323 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame");
salco 0:e4151abdff23 324 return temp;
salco 0:e4151abdff23 325 }