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Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
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/mouvement.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 0:e4151abdff23 | 1 | /* |
salco | 0:e4151abdff23 | 2 | * mouvement.cpp |
salco | 0:e4151abdff23 | 3 | * |
salco | 0:e4151abdff23 | 4 | * Created on: Mar 02, 2015 |
salco | 0:e4151abdff23 | 5 | * Author: salco |
salco | 0:e4151abdff23 | 6 | */ |
salco | 0:e4151abdff23 | 7 | #include "mouvement.h" |
salco | 0:e4151abdff23 | 8 | |
salco | 2:4c5b0f6d0a6b | 9 | Faculter_motrice *ptrFaculterMotrice; |
salco | 2:4c5b0f6d0a6b | 10 | |
salco | 0:e4151abdff23 | 11 | Faculter_motrice::Faculter_motrice(Serial* com):m_com(com) |
salco | 0:e4151abdff23 | 12 | { |
salco | 0:e4151abdff23 | 13 | m_seq = new homemadeSequence(); |
salco | 0:e4151abdff23 | 14 | |
salco | 0:e4151abdff23 | 15 | m_arr_D = new Patte(1,0,1,2,3); |
salco | 0:e4151abdff23 | 16 | m_arr_mil_D = new Patte(2,4,5,6,7); |
salco | 0:e4151abdff23 | 17 | m_arr_G = new Patte(3,16,17,18,19); |
salco | 0:e4151abdff23 | 18 | m_arr_mil_G = new Patte(4,20,21,22,23); |
salco | 0:e4151abdff23 | 19 | m_avv_D = new Patte(5,12,13,14,15); |
salco | 0:e4151abdff23 | 20 | m_avv_mil_D = new Patte(6,8,9,10,11); |
salco | 0:e4151abdff23 | 21 | m_avv_G = new Patte(7,28,29,30,31); |
salco | 0:e4151abdff23 | 22 | m_avv_mil_G = new Patte(8,24,25,26,27); |
salco | 0:e4151abdff23 | 23 | |
salco | 0:e4151abdff23 | 24 | m_SequenceID_arr_D =0; |
salco | 0:e4151abdff23 | 25 | m_SequenceID_arr_mil_D =0; |
salco | 0:e4151abdff23 | 26 | m_SequenceID_arr_G =0; |
salco | 0:e4151abdff23 | 27 | m_SequenceID_arr_mil_G =0; |
salco | 0:e4151abdff23 | 28 | m_SequenceID_avv_D =0; |
salco | 0:e4151abdff23 | 29 | m_SequenceID_avv_mil_D =0; |
salco | 0:e4151abdff23 | 30 | m_SequenceID_avv_G =0; |
salco | 0:e4151abdff23 | 31 | m_SequenceID_avv_mil_G =0; |
salco | 0:e4151abdff23 | 32 | |
salco | 0:e4151abdff23 | 33 | m_ForceStop = false; |
salco | 0:e4151abdff23 | 34 | m_CriticalStop = false; |
salco | 0:e4151abdff23 | 35 | } |
salco | 0:e4151abdff23 | 36 | Faculter_motrice::~Faculter_motrice() |
salco | 0:e4151abdff23 | 37 | { |
salco | 0:e4151abdff23 | 38 | if(m_seq) |
salco | 0:e4151abdff23 | 39 | delete m_seq; |
salco | 0:e4151abdff23 | 40 | if (m_arr_D) |
salco | 0:e4151abdff23 | 41 | delete m_arr_D; |
salco | 0:e4151abdff23 | 42 | if (m_arr_mil_D) |
salco | 0:e4151abdff23 | 43 | delete m_arr_mil_D; |
salco | 0:e4151abdff23 | 44 | if (m_arr_G) |
salco | 0:e4151abdff23 | 45 | delete m_arr_G; |
salco | 0:e4151abdff23 | 46 | if (m_arr_mil_G) |
salco | 0:e4151abdff23 | 47 | delete m_arr_mil_G; |
salco | 0:e4151abdff23 | 48 | |
salco | 0:e4151abdff23 | 49 | if (m_avv_D) |
salco | 0:e4151abdff23 | 50 | delete m_avv_D; |
salco | 0:e4151abdff23 | 51 | if (m_avv_mil_D) |
salco | 0:e4151abdff23 | 52 | delete m_avv_mil_D; |
salco | 0:e4151abdff23 | 53 | if (m_avv_G) |
salco | 0:e4151abdff23 | 54 | delete m_avv_G; |
salco | 0:e4151abdff23 | 55 | if (m_avv_mil_G) |
salco | 0:e4151abdff23 | 56 | delete m_avv_mil_G; |
salco | 0:e4151abdff23 | 57 | return; |
salco | 0:e4151abdff23 | 58 | } |
salco | 0:e4151abdff23 | 59 | void Faculter_motrice::exec(void) |
salco | 0:e4151abdff23 | 60 | { |
salco | 19:0ac80045ba4c | 61 | debug(DEBUG_MOUVEMENT,"\n\r In Faculter Mott"); |
salco | 19:0ac80045ba4c | 62 | debug(DEBUG_MOUVEMENT,"\n\r Flag in exec [%i :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence()); |
salco | 0:e4151abdff23 | 63 | if((!m_ForceStop)&&(m_seq->get_Sequence() != 0)) { |
salco | 0:e4151abdff23 | 64 | unsigned char* tempLeg; |
salco | 0:e4151abdff23 | 65 | |
salco | 0:e4151abdff23 | 66 | |
salco | 0:e4151abdff23 | 67 | |
salco | 0:e4151abdff23 | 68 | switch(m_seq->get_Sequence()) { |
salco | 19:0ac80045ba4c | 69 | default: |
salco | 0:e4151abdff23 | 70 | tempLeg=m_seq->get_frame(m_arr_D->id()); |
salco | 0:e4151abdff23 | 71 | m_arr_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]); |
salco | 0:e4151abdff23 | 72 | //...// |
salco | 0:e4151abdff23 | 73 | if(m_seq->next_frame() == false) { |
salco | 0:e4151abdff23 | 74 | m_ForceStop=true; |
salco | 19:0ac80045ba4c | 75 | |
salco | 19:0ac80045ba4c | 76 | debug(DEBUG_EXEC," Flag next impossible \n\r",m_ForceStop,m_seq->get_Sequence()); |
salco | 19:0ac80045ba4c | 77 | |
salco | 0:e4151abdff23 | 78 | } |
salco | 0:e4151abdff23 | 79 | else |
salco | 19:0ac80045ba4c | 80 | debug(DEBUG_EXEC," Flag next possible \n\r",m_ForceStop,m_seq->get_Sequence()); |
salco | 19:0ac80045ba4c | 81 | |
salco | 0:e4151abdff23 | 82 | break; |
salco | 0:e4151abdff23 | 83 | } |
salco | 0:e4151abdff23 | 84 | //char buffer[50]; |
salco | 0:e4151abdff23 | 85 | //scanf(buffer,"%s T%d\n\r",m_arr_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 86 | //m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE); //move to sendSequence() |
salco | 19:0ac80045ba4c | 87 | |
salco | 19:0ac80045ba4c | 88 | debug(DEBUG_MOUVEMENT,"\n\r %s T%d\n\r",m_arr_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 89 | sendSequence(); |
salco | 0:e4151abdff23 | 90 | /* |
salco | 0:e4151abdff23 | 91 | tempLeg=m_seq->get_frame(m_arr_D->id()); |
salco | 0:e4151abdff23 | 92 | m_com->printf("This program is %d .\n", tempLeg[0]);*/ |
salco | 0:e4151abdff23 | 93 | } |
salco | 19:0ac80045ba4c | 94 | debug(DEBUG_MOUVEMENT,"\n\r Out Faculter Mott"); |
salco | 0:e4151abdff23 | 95 | } |
salco | 0:e4151abdff23 | 96 | /*void Faculter_motrice::moveLeft (void) |
salco | 0:e4151abdff23 | 97 | { |
salco | 0:e4151abdff23 | 98 | m_seq->set_Sequence(9); |
salco | 0:e4151abdff23 | 99 | } |
salco | 0:e4151abdff23 | 100 | void Faculter_motrice::moveRight(void) |
salco | 0:e4151abdff23 | 101 | { |
salco | 0:e4151abdff23 | 102 | |
salco | 0:e4151abdff23 | 103 | } |
salco | 0:e4151abdff23 | 104 | void Faculter_motrice::moveUp (void) |
salco | 0:e4151abdff23 | 105 | { |
salco | 0:e4151abdff23 | 106 | |
salco | 0:e4151abdff23 | 107 | } |
salco | 0:e4151abdff23 | 108 | void Faculter_motrice::moveDown (void) |
salco | 0:e4151abdff23 | 109 | { |
salco | 0:e4151abdff23 | 110 | |
salco | 0:e4151abdff23 | 111 | } |
salco | 0:e4151abdff23 | 112 | void Faculter_motrice::moveFront(void) |
salco | 0:e4151abdff23 | 113 | { |
salco | 0:e4151abdff23 | 114 | |
salco | 0:e4151abdff23 | 115 | } |
salco | 0:e4151abdff23 | 116 | void Faculter_motrice::moveBack (void) |
salco | 0:e4151abdff23 | 117 | { |
salco | 0:e4151abdff23 | 118 | |
salco | 0:e4151abdff23 | 119 | } |
salco | 0:e4151abdff23 | 120 | void Faculter_motrice::turnLeft (void) |
salco | 0:e4151abdff23 | 121 | { |
salco | 0:e4151abdff23 | 122 | |
salco | 0:e4151abdff23 | 123 | } |
salco | 0:e4151abdff23 | 124 | void Faculter_motrice::trunRight(void) |
salco | 0:e4151abdff23 | 125 | { |
salco | 0:e4151abdff23 | 126 | |
salco | 0:e4151abdff23 | 127 | }*/ |
salco | 0:e4151abdff23 | 128 | void Faculter_motrice::crit_stop(void) |
salco | 0:e4151abdff23 | 129 | { |
salco | 0:e4151abdff23 | 130 | m_com->printf("#0L #1L #2L #3L #4L #5L #6L #7L #8L #9L #10L #11L #12L #13L #14L #15L #16L #17L #18L #19L #20L #21L #22L #23L #24L #25L #26L #27L #28L #29L #30L #31L #32L\n\r"); |
salco | 0:e4151abdff23 | 131 | m_ForceStop=true; |
salco | 0:e4151abdff23 | 132 | m_CriticalStop=true; |
salco | 19:0ac80045ba4c | 133 | } |
salco | 19:0ac80045ba4c | 134 | |
salco | 19:0ac80045ba4c | 135 | void Faculter_motrice::sendSequence(void) |
salco | 19:0ac80045ba4c | 136 | { |
salco | 19:0ac80045ba4c | 137 | debug(DEBUG_SENDSEQ,"\n\r in sendSeq\n\r"); |
salco | 19:0ac80045ba4c | 138 | m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 139 | debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 140 | |
salco | 19:0ac80045ba4c | 141 | m_com->printf("%s T%d\n\r",m_arr_G->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 142 | debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_G->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 143 | |
salco | 19:0ac80045ba4c | 144 | m_com->printf("%s T%d\n\r",m_arr_mil_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 145 | debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_mil_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 146 | |
salco | 19:0ac80045ba4c | 147 | m_com->printf("%s T%d\n\r",m_arr_mil_G->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 148 | debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_arr_mil_G->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 149 | |
salco | 19:0ac80045ba4c | 150 | m_com->printf("%s T%d\n\r",m_avv_mil_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 151 | debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_mil_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 152 | |
salco | 19:0ac80045ba4c | 153 | m_com->printf("%s T%d\n\r",m_avv_mil_G->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 154 | debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_mil_G->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 155 | |
salco | 19:0ac80045ba4c | 156 | m_com->printf("%s T%d\n\r",m_avv_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 157 | debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_D->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 158 | |
salco | 19:0ac80045ba4c | 159 | m_com->printf("%s T%d\n\r",m_avv_G->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 160 | debug(DEBUG_SENDSEQ,"\n\r %s T%d",m_avv_G->toString(),DELAITESTE); |
salco | 19:0ac80045ba4c | 161 | |
salco | 19:0ac80045ba4c | 162 | debug(DEBUG_SENDSEQ,"\n\r\n\r out sendSeq"); |
salco | 0:e4151abdff23 | 163 | } |