![](/media/cache/profiles/4b0986230d9d7aded7f0c24033d221d4.jpg.50x50_q85.jpg)
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/homemadeSequence.cpp@26:15cb45d56c28, 2015-05-11 (annotated)
- Committer:
- salco
- Date:
- Mon May 11 13:48:38 2015 +0000
- Revision:
- 26:15cb45d56c28
- Parent:
- 25:f3bd72f1dd8d
- Child:
- 27:ea60d12dccdf
je pense modifier pour faire un controle du speed par moteur aussi.
Who changed what in which revision?
User | Revision | Line number | New 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 | 22:a2c875629f2d | 9 | { {80 , 220, 170}, {220, 80 , 130} }, |
salco | 22:a2c875629f2d | 10 | { {90 , 220, 160}, {200, 80 , 140} }, |
salco | 22:a2c875629f2d | 11 | { {106, 220, 150}, {194, 80 , 150} }, |
salco | 22:a2c875629f2d | 12 | { {128, 220, 127}, {172, 80 , 173} }, |
salco | 22:a2c875629f2d | 13 | { {144, 205, 130}, {156, 95 , 170} }, |
salco | 22:a2c875629f2d | 14 | { {144, 210, 123}, {156, 89 , 177} }, |
salco | 22:a2c875629f2d | 15 | { {172, 185, 124}, {128, 115, 176} }, |
salco | 22:a2c875629f2d | 16 | { {194, 166, 118}, {106, 134, 182} } |
salco | 22:a2c875629f2d | 17 | }; |
salco | 22:a2c875629f2d | 18 | |
salco | 19:0ac80045ba4c | 19 | unsigned char table_seqDown[9][2][3] = { { {172, 185, 124}, {128, 115, 176} }, |
salco | 22:a2c875629f2d | 20 | { {172, 185, 124}, {128, 115, 176} }, |
salco | 22:a2c875629f2d | 21 | { {144, 210, 123}, {156, 89 , 177} }, |
salco | 22:a2c875629f2d | 22 | { {144, 205, 130}, {156, 95 , 170} }, |
salco | 22:a2c875629f2d | 23 | { {128, 220, 127}, {172, 80 , 173} }, |
salco | 22:a2c875629f2d | 24 | { {106, 220, 150}, {194, 80 , 150} }, |
salco | 22:a2c875629f2d | 25 | { {90 , 220, 160}, {200, 80 , 140} }, |
salco | 22:a2c875629f2d | 26 | { {80 , 220, 170}, {220, 80 , 130} }, |
salco | 22:a2c875629f2d | 27 | { {80 , 100, 150}, {220, 200, 150} } |
salco | 22:a2c875629f2d | 28 | };//fin de la seq il met ses patte sur sa tete** |
salco | 22:a2c875629f2d | 29 | |
salco | 21:5c17b7836733 | 30 | unsigned char table_seqCrabe[33][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{125, 184, 156}, /* 8*/{132, 215, 147}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 31 | /*16*/{203,101,128}, /*20*/{255,255,255}, /*24*/{176, 87, 163}, /*28*/{191, 103,133} |
salco | 22:a2c875629f2d | 32 | }, |
salco | 22:a2c875629f2d | 33 | { /* 0*/{255,255,255}, /* 4*/{111, 185, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 34 | /*16*/{209, 99,140}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{196, 105,142} |
salco | 22:a2c875629f2d | 35 | }, |
salco | 22:a2c875629f2d | 36 | { /* 0*/{255,255,255}, /* 4*/{103, 192, 155}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 37 | /*16*/{203,108,137}, /*20*/{255, 255, 255}, /*24*/{170, 88, 159}, /*28*/{191, 112,141} |
salco | 22:a2c875629f2d | 38 | }, |
salco | 22:a2c875629f2d | 39 | { /* 0*/{255,255,255}, /* 4*/{ 98, 199, 158}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 40 | /*16*/{196,114,137}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{184, 118,142} |
salco | 22:a2c875629f2d | 41 | }, |
salco | 22:a2c875629f2d | 42 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 43 | /*16*/{182,115,144}, /*20*/{255, 255, 255}, /*24*/{169, 83, 164}, /*28*/{172, 118,142} |
salco | 22:a2c875629f2d | 44 | }, |
salco | 22:a2c875629f2d | 45 | { /* 0*/{255,255,255}, /* 4*/{102, 201, 170}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 46 | /*16*/{152,137,139}, /*20*/{255, 255, 255}, /*24*/{169, 78, 155}, /*28*/{146, 137,142} |
salco | 22:a2c875629f2d | 47 | }, |
salco | 22:a2c875629f2d | 48 | { /* 0*/{255,255,255}, /* 4*/{102, 207, 179}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 49 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 76, 137}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 50 | }, |
salco | 22:a2c875629f2d | 51 | { /* 0*/{255,255,255}, /* 4*/{ 94, 213, 183}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 52 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 77, 131}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 53 | }, |
salco | 22:a2c875629f2d | 54 | { /* 0*/{255,255,255}, /* 4*/{106, 216, 175}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 55 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{208, 75, 116}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 56 | }, |
salco | 22:a2c875629f2d | 57 | { /* 0*/{255,255,255}, /* 4*/{129, 217, 165}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 58 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{225, 75, 109}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 59 | }, |
salco | 22:a2c875629f2d | 60 | { /* 0*/{255,255,255}, /* 4*/{129, 221, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 61 | /*16*/{255,255,255}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 62 | }, |
salco | 22:a2c875629f2d | 63 | { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{255, 255, 255}, /*12*/{149, 158,159}, |
salco | 22:a2c875629f2d | 64 | /*16*/{255,255,255}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 65 | }, |
salco | 22:a2c875629f2d | 66 | { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{255, 255, 255}, /*12*/{121, 180,156}, |
salco | 22:a2c875629f2d | 67 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{215, 93, 140}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 68 | }, |
salco | 22:a2c875629f2d | 69 | { /* 0*/{113,176,156}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{107, 182,156}, |
salco | 22:a2c875629f2d | 70 | /*16*/{255,255,255}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 71 | }, |
salco | 22:a2c875629f2d | 72 | { /* 0*/{105,183,155}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{100, 187,150}, |
salco | 22:a2c875629f2d | 73 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{202, 106, 142}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 74 | }, |
salco | 22:a2c875629f2d | 75 | { /* 0*/{100,191,158}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 96, 193,155}, |
salco | 22:a2c875629f2d | 76 | /*16*/{255,255,255}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 77 | }, |
salco | 22:a2c875629f2d | 78 | { /* 0*/{103,193,170}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 197,170}, |
salco | 22:a2c875629f2d | 79 | /*16*/{255,255,255}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 80 | }, |
salco | 22:a2c875629f2d | 81 | { /* 0*/{103,200,177}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 201,177}, |
salco | 22:a2c875629f2d | 82 | /*16*/{255,255,255}, /*20*/{177, 80, 145}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 83 | }, |
salco | 22:a2c875629f2d | 84 | { /* 0*/{ 96,205,182}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 91, 208,176}, |
salco | 22:a2c875629f2d | 85 | /*16*/{255,255,255}, /*20*/{177, 87, 130}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 86 | }, |
salco | 22:a2c875629f2d | 87 | { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173}, |
salco | 22:a2c875629f2d | 88 | /*16*/{255,255,255}, /*20*/{192, 92, 123}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 89 | }, |
salco | 22:a2c875629f2d | 90 | { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173}, |
salco | 22:a2c875629f2d | 91 | /*16*/{255,255,255}, /*20*/{218, 79, 120}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 92 | }, |
salco | 22:a2c875629f2d | 93 | { /* 0*/{129,219,151}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{125, 213,157}, |
salco | 22:a2c875629f2d | 94 | /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{255, 255, 255}, /*28*/{154, 116,150} |
salco | 22:a2c875629f2d | 95 | }, |
salco | 22:a2c875629f2d | 96 | { /* 0*/{140,209,142}, /* 4*/{255, 255, 255}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145}, |
salco | 22:a2c875629f2d | 97 | /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{255, 255, 255}, /*28*/{163, 93,168} |
salco | 22:a2c875629f2d | 98 | }, |
salco | 22:a2c875629f2d | 99 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{115, 182, 158}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 100 | /*16*/{255,255,255}, /*20*/{212, 97, 142}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 101 | }, |
salco | 22:a2c875629f2d | 102 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{101, 183, 156}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 103 | /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{255, 255, 255}, /*28*/{160, 96,160} |
salco | 22:a2c875629f2d | 104 | }, |
salco | 22:a2c875629f2d | 105 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 94, 190, 154}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 106 | /*16*/{255,255,255}, /*20*/{197, 113, 144}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 107 | }, |
salco | 22:a2c875629f2d | 108 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 89, 197, 158}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 109 | /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{255, 255, 255}, /*28*/{161, 88,162} |
salco | 22:a2c875629f2d | 110 | }, |
salco | 22:a2c875629f2d | 111 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 200, 171}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 112 | /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{255, 255, 255}, /*28*/{166, 86,156} |
salco | 22:a2c875629f2d | 113 | }, |
salco | 22:a2c875629f2d | 114 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 205, 175}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 115 | /*16*/{177, 82,133}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 82,143} |
salco | 22:a2c875629f2d | 116 | }, |
salco | 22:a2c875629f2d | 117 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 82, 215, 177}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 118 | /*16*/{177, 85,126}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 84,135} |
salco | 22:a2c875629f2d | 119 | }, |
salco | 22:a2c875629f2d | 120 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 96, 214, 176}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 121 | /*16*/{191,101,113}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{190, 86,124} |
salco | 22:a2c875629f2d | 122 | }, |
salco | 22:a2c875629f2d | 123 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 213, 158}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 124 | /*16*/{213, 83,124}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{202, 88,121} |
salco | 22:a2c875629f2d | 125 | }, |
salco | 22:a2c875629f2d | 126 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 217, 154}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 127 | /*16*/{203, 95,110}, /*20*/{255, 255, 255}, /*24*/{165, 109, 152}, /*28*/{191, 101,120} |
salco | 22:a2c875629f2d | 128 | } |
salco | 22:a2c875629f2d | 129 | }; |
salco | 22:a2c875629f2d | 130 | |
salco | 22:a2c875629f2d | 131 | unsigned char table_seqTurn_PAUSE_TIME[32][2] = {{ 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 25, 20},{ 21, 30},{ 30, 30}, |
salco | 22:a2c875629f2d | 132 | { 30, 30},{ 20, 20},{ 20, 20},{ 20, 30},{ 20, 20},{ 20, 20},{ 30, 30},{ 31, 30}, |
salco | 22:a2c875629f2d | 133 | { 20, 20},{ 30, 30},{ 20, 30},{ 30, 30},{ 20, 20},{ 20, 30},{ 30, 30},{ 30, 30} |
salco | 22:a2c875629f2d | 134 | }; |
salco | 21:5c17b7836733 | 135 | |
salco | 22:a2c875629f2d | 136 | unsigned char table_seqTurn[31][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 137 | /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 138 | }, |
salco | 22:a2c875629f2d | 139 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 140 | /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 141 | }, |
salco | 22:a2c875629f2d | 142 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 90,196,170}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 143 | /*16*/{255,255,255}, /*20*/{205,107,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 144 | }, |
salco | 22:a2c875629f2d | 145 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{101,183,165}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 146 | /*16*/{255,255,255}, /*20*/{197,113,135}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 147 | }, |
salco | 22:a2c875629f2d | 148 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 149 | /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 150 | }, |
salco | 22:a2c875629f2d | 151 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{118,219,139}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 152 | /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 153 | }, |
salco | 22:a2c875629f2d | 154 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{117,217,137}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 155 | /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 156 | }, |
salco | 22:a2c875629f2d | 157 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 158 | /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 159 | }, |
salco | 22:a2c875629f2d | 160 | { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 161 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124} |
salco | 22:a2c875629f2d | 162 | }, |
salco | 22:a2c875629f2d | 163 | { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 164 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 95,124} |
salco | 22:a2c875629f2d | 165 | }, |
salco | 22:a2c875629f2d | 166 | { /* 0*/{105,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 167 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{208, 99,127} |
salco | 22:a2c875629f2d | 168 | }, |
salco | 22:a2c875629f2d | 169 | { /* 0*/{113,176,165}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 170 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{204,103,133} |
salco | 22:a2c875629f2d | 171 | }, |
salco | 22:a2c875629f2d | 172 | { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 173 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115} |
salco | 22:a2c875629f2d | 174 | }, |
salco | 22:a2c875629f2d | 175 | { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 176 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169} |
salco | 22:a2c875629f2d | 177 | }, |
salco | 22:a2c875629f2d | 178 | { /* 0*/{123,217,215}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 179 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167} |
salco | 22:a2c875629f2d | 180 | }, |
salco | 22:a2c875629f2d | 181 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176}, |
salco | 22:a2c875629f2d | 182 | /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 183 | }, |
salco | 22:a2c875629f2d | 184 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, |
salco | 22:a2c875629f2d | 185 | /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 186 | }, |
salco | 22:a2c875629f2d | 187 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 94,196,168}, |
salco | 22:a2c875629f2d | 188 | /*16*/{203,103,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 189 | }, |
salco | 22:a2c875629f2d | 190 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{107,182,165}, |
salco | 22:a2c875629f2d | 191 | /*16*/{196,114,128}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 192 | }, |
salco | 22:a2c875629f2d | 193 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, |
salco | 22:a2c875629f2d | 194 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 195 | }, |
salco | 22:a2c875629f2d | 196 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 92,198,168}, |
salco | 22:a2c875629f2d | 197 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 198 | }, |
salco | 22:a2c875629f2d | 199 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145}, |
salco | 22:a2c875629f2d | 200 | /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 201 | }, |
salco | 22:a2c875629f2d | 202 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142}, |
salco | 22:a2c875629f2d | 203 | /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 204 | }, |
salco | 22:a2c875629f2d | 205 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 206 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{204, 88,116}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 207 | }, |
salco | 22:a2c875629f2d | 208 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 209 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{190, 76,160}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 210 | }, |
salco | 22:a2c875629f2d | 211 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 212 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{192, 78,156}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 213 | }, |
salco | 22:a2c875629f2d | 214 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 215 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{194, 78,161}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 216 | }, |
salco | 22:a2c875629f2d | 217 | { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 218 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 219 | }, |
salco | 22:a2c875629f2d | 220 | { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 221 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 222 | }, |
salco | 22:a2c875629f2d | 223 | { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 224 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 225 | }, |
salco | 22:a2c875629f2d | 226 | { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 227 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 228 | } |
salco | 22:a2c875629f2d | 229 | }; |
salco | 22:a2c875629f2d | 230 | unsigned char table_seqRepositionne_PAUSE_TIME[6][2] = {{ 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}}; |
salco | 22:a2c875629f2d | 231 | unsigned char table_seqRepositionne[6][8][3] = { |
salco | 22:a2c875629f2d | 232 | { /* 0*/{103,206,176}, /* 4*/{102,213,176}, /* 8*/{ 92,211,171}, /*12*/{ 99,211,176}, |
salco | 22:a2c875629f2d | 233 | /*16*/{210, 86,121}, /*20*/{213, 85,118}, /*24*/{217, 83,118}, /*28*/{200, 86,124} |
salco | 22:a2c875629f2d | 234 | }, |
salco | 22:a2c875629f2d | 235 | { /* 0*/{100,188,184}, /* 4*/{ 98,193,185}, /* 8*/{ 89,193,186}, /*12*/{ 96,193,185}, |
salco | 22:a2c875629f2d | 236 | /*16*/{209, 99,115}, /*20*/{212, 99,119}, /*24*/{215, 95,119}, /*28*/{205, 95,124} |
salco | 22:a2c875629f2d | 237 | }, |
salco | 22:a2c875629f2d | 238 | { /* 0*/{ 93,182,166}, /* 4*/{ 86,196,161}, /* 8*/{ 75,196,170}, /*12*/{ 88,192,168}, |
salco | 22:a2c875629f2d | 239 | /*16*/{206,115,125}, /*20*/{211,114,129}, /*24*/{213,110,129}, /*28*/{206,108,127} |
salco | 22:a2c875629f2d | 240 | }, |
salco | 22:a2c875629f2d | 241 | { /* 0*/{ 93,187,203}, /* 4*/{ 88,202,195}, /* 8*/{ 88,207,190}, /*12*/{ 92,198,199}, |
salco | 22:a2c875629f2d | 242 | /*16*/{204,110,107}, /*20*/{207,110,100}, /*24*/{204, 88,116}, /*28*/{203,103,115} |
salco | 22:a2c875629f2d | 243 | }, |
salco | 22:a2c875629f2d | 244 | { /* 0*/{123,220,139}, /* 4*/{125,225,133}, /* 8*/{118,219,139}, /*12*/{118,206,145}, |
salco | 22:a2c875629f2d | 245 | /*16*/{179, 82,167}, /*20*/{189, 76,160}, /*24*/{190, 76,160}, /*28*/{178, 78,169} |
salco | 22:a2c875629f2d | 246 | }, |
salco | 22:a2c875629f2d | 247 | { /* 0*/{123,217,135}, /* 4*/{120,222,135}, /* 8*/{113,217,137}, /*12*/{111,213,142}, |
salco | 22:a2c875629f2d | 248 | /*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167} |
salco | 22:a2c875629f2d | 249 | } |
salco | 22:a2c875629f2d | 250 | }; |
salco | 26:15cb45d56c28 | 251 | unsigned char table_seqFoward_PAUSE_TIME[42][2] = { |
salco | 26:15cb45d56c28 | 252 | { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 0, 45},{ 61, 50}, |
salco | 24:c7246270a852 | 253 | { 21, 20},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20}, |
salco | 24:c7246270a852 | 254 | { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 50},{ 21, 20},{ 41, 45}, |
salco | 24:c7246270a852 | 255 | { 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}, |
salco | 24:c7246270a852 | 256 | { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}, |
salco | 25:f3bd72f1dd8d | 257 | { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50} |
salco | 25:f3bd72f1dd8d | 258 | }; |
salco | 26:15cb45d56c28 | 259 | unsigned char table_seqFoward[42][8][3] = { |
salco | 23:7b296b6d8285 | 260 | { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 261 | /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 262 | }, |
salco | 23:7b296b6d8285 | 263 | { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 264 | /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 265 | }, |
salco | 23:7b296b6d8285 | 266 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 267 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 268 | }, |
salco | 23:7b296b6d8285 | 269 | { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 270 | /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 271 | }, |
salco | 23:7b296b6d8285 | 272 | { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},//attention ici 2 temps diferant |
salco | 23:7b296b6d8285 | 273 | /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{200, 86,124} |
salco | 23:7b296b6d8285 | 274 | }, |
salco | 23:7b296b6d8285 | 275 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 276 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205, 95,124} |
salco | 23:7b296b6d8285 | 277 | }, |
salco | 23:7b296b6d8285 | 278 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 279 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 280 | }, |
salco | 23:7b296b6d8285 | 281 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 282 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} |
salco | 23:7b296b6d8285 | 283 | }, |
salco | 23:7b296b6d8285 | 284 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{145,161,172}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 285 | /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130} |
salco | 23:7b296b6d8285 | 286 | }, |
salco | 23:7b296b6d8285 | 287 | { /* 0*/{127,186,156}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 288 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{179, 81,167} |
salco | 23:7b296b6d8285 | 289 | }, |
salco | 26:15cb45d56c28 | 290 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 26:15cb45d56c28 | 291 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 26:15cb45d56c28 | 292 | }, |
salco | 23:7b296b6d8285 | 293 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 294 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 295 | }, |
salco | 23:7b296b6d8285 | 296 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 297 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 298 | }, |
salco | 23:7b296b6d8285 | 299 | { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 300 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 301 | }, |
salco | 23:7b296b6d8285 | 302 | { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 303 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 304 | }, |
salco | 23:7b296b6d8285 | 305 | { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 306 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 307 | }, |
salco | 23:7b296b6d8285 | 308 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 309 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 310 | }, |
salco | 23:7b296b6d8285 | 311 | { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 312 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 313 | }, |
salco | 23:7b296b6d8285 | 314 | { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 315 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 316 | }, |
salco | 23:7b296b6d8285 | 317 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 318 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 319 | }, |
salco | 23:7b296b6d8285 | 320 | { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 321 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 322 | }, |
salco | 23:7b296b6d8285 | 323 | { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},//attention temps diferant ici |
salco | 23:7b296b6d8285 | 324 | /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{154,133,133}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 325 | }, |
salco | 23:7b296b6d8285 | 326 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, |
salco | 23:7b296b6d8285 | 327 | /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 328 | }, |
salco | 23:7b296b6d8285 | 329 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 330 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 331 | }, |
salco | 23:7b296b6d8285 | 332 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, |
salco | 23:7b296b6d8285 | 333 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 334 | }, |
salco | 23:7b296b6d8285 | 335 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{145,158,173}, |
salco | 23:7b296b6d8285 | 336 | /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 337 | }, |
salco | 23:7b296b6d8285 | 338 | { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps |
salco | 23:7b296b6d8285 | 339 | /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 340 | }, |
salco | 23:7b296b6d8285 | 341 | { /* 0*/{127,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{116,219,134}, |
salco | 23:7b296b6d8285 | 342 | /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 343 | }, |
salco | 23:7b296b6d8285 | 344 | { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 345 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 346 | }, |
salco | 23:7b296b6d8285 | 347 | { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 348 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 349 | }, |
salco | 23:7b296b6d8285 | 350 | { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 351 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 352 | }, |
salco | 23:7b296b6d8285 | 353 | { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 354 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 355 | }, |
salco | 23:7b296b6d8285 | 356 | { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 357 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 358 | }, |
salco | 23:7b296b6d8285 | 359 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 360 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 361 | }, |
salco | 23:7b296b6d8285 | 362 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 363 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 364 | }, |
salco | 23:7b296b6d8285 | 365 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 366 | /*16*/{204,110,107}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 367 | }, |
salco | 23:7b296b6d8285 | 368 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 369 | /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 370 | }, |
salco | 23:7b296b6d8285 | 371 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 372 | /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 373 | }, |
salco | 23:7b296b6d8285 | 374 | { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 375 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 376 | }, |
salco | 23:7b296b6d8285 | 377 | { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 378 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 379 | }, |
salco | 23:7b296b6d8285 | 380 | { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 381 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 382 | }, |
salco | 23:7b296b6d8285 | 383 | { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 384 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 385 | } |
salco | 23:7b296b6d8285 | 386 | }; |
salco | 25:f3bd72f1dd8d | 387 | unsigned char table_seqBackward_PAUSE_TIME[33][2] = { |
salco | 24:c7246270a852 | 388 | { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 31, 30},{ 61, 50}, |
salco | 24:c7246270a852 | 389 | { 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30}, |
salco | 24:c7246270a852 | 390 | { 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 45},{ 21, 20},{ 41, 45},{ 21, 20}, |
salco | 25:f3bd72f1dd8d | 391 | { 21, 20},{ 31, 30},{ 31, 50} |
salco | 25:f3bd72f1dd8d | 392 | }; |
salco | 23:7b296b6d8285 | 393 | unsigned char table_seqBackward[33][8][3] = { |
salco | 23:7b296b6d8285 | 394 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 395 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124} |
salco | 23:7b296b6d8285 | 396 | }, |
salco | 23:7b296b6d8285 | 397 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{89,193,186}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 398 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205,95,124} |
salco | 23:7b296b6d8285 | 399 | }, |
salco | 23:7b296b6d8285 | 400 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 401 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 402 | }, |
salco | 23:7b296b6d8285 | 403 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 404 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} |
salco | 23:7b296b6d8285 | 405 | }, |
salco | 23:7b296b6d8285 | 406 | { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},//attention ici 2 temps diferant |
salco | 23:7b296b6d8285 | 407 | /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{181, 81,167} |
salco | 23:7b296b6d8285 | 408 | }, |
salco | 23:7b296b6d8285 | 409 | { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 410 | /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 411 | }, |
salco | 23:7b296b6d8285 | 412 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 413 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 414 | }, |
salco | 23:7b296b6d8285 | 415 | { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 416 | /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 417 | }, |
salco | 23:7b296b6d8285 | 418 | { /* 0*/{136,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 419 | /*16*/{255,255,255}, /*20*/{176,108,146}, /*24*/{255,255,255}, /*28*/{179, 81,167} |
salco | 23:7b296b6d8285 | 420 | }, |
salco | 23:7b296b6d8285 | 421 | { /* 0*/{123,217,135}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 422 | /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130} |
salco | 23:7b296b6d8285 | 423 | }, |
salco | 23:7b296b6d8285 | 424 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 425 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} |
salco | 23:7b296b6d8285 | 426 | }, |
salco | 23:7b296b6d8285 | 427 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 428 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115} |
salco | 23:7b296b6d8285 | 429 | }, |
salco | 23:7b296b6d8285 | 430 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 431 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169} |
salco | 23:7b296b6d8285 | 432 | }, |
salco | 23:7b296b6d8285 | 433 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 434 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167} |
salco | 23:7b296b6d8285 | 435 | }, |
salco | 23:7b296b6d8285 | 436 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 437 | /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 438 | }, |
salco | 23:7b296b6d8285 | 439 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 440 | /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 441 | }, |
salco | 23:7b296b6d8285 | 442 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 443 | /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 444 | }, |
salco | 23:7b296b6d8285 | 445 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 446 | /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 447 | }, |
salco | 23:7b296b6d8285 | 448 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176}, |
salco | 23:7b296b6d8285 | 449 | /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 450 | }, |
salco | 23:7b296b6d8285 | 451 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, |
salco | 23:7b296b6d8285 | 452 | /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 453 | }, |
salco | 23:7b296b6d8285 | 454 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 455 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 456 | }, |
salco | 23:7b296b6d8285 | 457 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, |
salco | 23:7b296b6d8285 | 458 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 459 | }, |
salco | 23:7b296b6d8285 | 460 | { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{116,219,134},//attention plusieur temps |
salco | 23:7b296b6d8285 | 461 | /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 462 | }, |
salco | 23:7b296b6d8285 | 463 | { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 464 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 465 | }, |
salco | 23:7b296b6d8285 | 466 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 467 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 468 | }, |
salco | 23:7b296b6d8285 | 469 | { /* 0*/{255,255,255}, /* 4*/{86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 470 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 471 | }, |
salco | 23:7b296b6d8285 | 472 | { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 473 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 474 | }, |
salco | 23:7b296b6d8285 | 475 | { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps |
salco | 23:7b296b6d8285 | 476 | /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 477 | }, |
salco | 23:7b296b6d8285 | 478 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{132,178,166}, |
salco | 23:7b296b6d8285 | 479 | /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 480 | }, |
salco | 23:7b296b6d8285 | 481 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, |
salco | 23:7b296b6d8285 | 482 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 483 | }, |
salco | 23:7b296b6d8285 | 484 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{92,198,199}, |
salco | 23:7b296b6d8285 | 485 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 486 | }, |
salco | 23:7b296b6d8285 | 487 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145}, |
salco | 23:7b296b6d8285 | 488 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 489 | }, |
salco | 23:7b296b6d8285 | 490 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142}, |
salco | 23:7b296b6d8285 | 491 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 492 | } |
salco | 23:7b296b6d8285 | 493 | }; |
salco | 19:0ac80045ba4c | 494 | /*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 | 495 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 496 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 497 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 498 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 499 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 500 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 501 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 502 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 503 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 504 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 505 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 506 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 507 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 508 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 509 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 510 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 511 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/ |
salco | 0:e4151abdff23 | 512 | homemadeSequence::homemadeSequence() |
salco | 0:e4151abdff23 | 513 | { |
salco | 19:0ac80045ba4c | 514 | m_SequenceChosen=0; |
salco | 19:0ac80045ba4c | 515 | m_idFrame=0; |
salco | 22:a2c875629f2d | 516 | m_idLegUse =0; |
salco | 0:e4151abdff23 | 517 | } |
salco | 0:e4151abdff23 | 518 | homemadeSequence::~homemadeSequence() |
salco | 0:e4151abdff23 | 519 | { |
salco | 0:e4151abdff23 | 520 | |
salco | 0:e4151abdff23 | 521 | } |
salco | 0:e4151abdff23 | 522 | unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg) |
salco | 0:e4151abdff23 | 523 | { |
salco | 19:0ac80045ba4c | 524 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame"); |
salco | 0:e4151abdff23 | 525 | m_posLeg[0] = 0; |
salco | 0:e4151abdff23 | 526 | m_posLeg[1] = 0; |
salco | 0:e4151abdff23 | 527 | m_posLeg[2] = 0; |
salco | 0:e4151abdff23 | 528 | m_posLeg[3] = 0; |
salco | 19:0ac80045ba4c | 529 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg); |
salco | 19:0ac80045ba4c | 530 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen); |
salco | 19:0ac80045ba4c | 531 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame); |
salco | 0:e4151abdff23 | 532 | switch(m_SequenceChosen) { |
salco | 0:e4151abdff23 | 533 | case 1:// 01 - Calibration(milieu) // |
salco | 0:e4151abdff23 | 534 | if(m_idFrame == 1) {//if(idOperation == 1) { |
salco | 0:e4151abdff23 | 535 | m_posLeg[0] = 150; |
salco | 0:e4151abdff23 | 536 | m_posLeg[1] = 150; |
salco | 0:e4151abdff23 | 537 | m_posLeg[2] = 150; |
salco | 0:e4151abdff23 | 538 | m_posLeg[3] = 150; |
salco | 19:0ac80045ba4c | 539 | } else { |
salco | 19:0ac80045ba4c | 540 | m_posLeg[0] = 0; |
salco | 19:0ac80045ba4c | 541 | m_posLeg[1] = 0; |
salco | 19:0ac80045ba4c | 542 | m_posLeg[2] = 0; |
salco | 19:0ac80045ba4c | 543 | m_posLeg[3] = 0; |
salco | 0:e4151abdff23 | 544 | } |
salco | 0:e4151abdff23 | 545 | break; |
salco | 0:e4151abdff23 | 546 | |
salco | 0:e4151abdff23 | 547 | case 2:// 02 - Debout // |
salco | 0:e4151abdff23 | 548 | seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg); |
salco | 0:e4151abdff23 | 549 | break; |
salco | 0:e4151abdff23 | 550 | case 3:// 03 - Coucher // |
salco | 0:e4151abdff23 | 551 | seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg); |
salco | 0:e4151abdff23 | 552 | break; |
salco | 0:e4151abdff23 | 553 | case 4:// 04 - Tourne Gauche // |
salco | 25:f3bd72f1dd8d | 554 | seqTurn(false,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 555 | break; |
salco | 0:e4151abdff23 | 556 | case 5:// 05 - Tourne Droite // |
salco | 25:f3bd72f1dd8d | 557 | seqTurn(true,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 558 | break; |
salco | 0:e4151abdff23 | 559 | case 6:// 06 - Marche // |
salco | 25:f3bd72f1dd8d | 560 | seqWalk(true,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 561 | break; |
salco | 0:e4151abdff23 | 562 | case 7:// 07 - Recule // |
salco | 25:f3bd72f1dd8d | 563 | seqWalk(false,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 564 | break; |
salco | 0:e4151abdff23 | 565 | case 8:// 07 - Repositioner // |
salco | 22:a2c875629f2d | 566 | seqRepositioner(m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 567 | break; |
salco | 0:e4151abdff23 | 568 | case 9:// 09 - Crabe Gauche // |
salco | 21:5c17b7836733 | 569 | seqCrabe(false,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 570 | break; |
salco | 0:e4151abdff23 | 571 | case 10:// 10 - Crabe Droite // |
salco | 21:5c17b7836733 | 572 | seqCrabe(true,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 573 | break; |
salco | 0:e4151abdff23 | 574 | } |
salco | 19:0ac80045ba4c | 575 | 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 | 576 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame"); |
salco | 0:e4151abdff23 | 577 | return m_posLeg; |
salco | 0:e4151abdff23 | 578 | } |
salco | 0:e4151abdff23 | 579 | |
salco | 0:e4151abdff23 | 580 | void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg) |
salco | 0:e4151abdff23 | 581 | { |
salco | 0:e4151abdff23 | 582 | if((idOperation<10)&&(idOperation>0)) { |
salco | 19:0ac80045ba4c | 583 | switch(idLeg) { //moving hips |
salco | 22:a2c875629f2d | 584 | case 1://#0 |
salco | 0:e4151abdff23 | 585 | m_posLeg[0] = 140; |
salco | 0:e4151abdff23 | 586 | break; |
salco | 22:a2c875629f2d | 587 | case 2://#4 |
salco | 0:e4151abdff23 | 588 | m_posLeg[0] = 165; |
salco | 0:e4151abdff23 | 589 | break; |
salco | 22:a2c875629f2d | 590 | case 3://#8 |
salco | 0:e4151abdff23 | 591 | m_posLeg[0] = 160; |
salco | 0:e4151abdff23 | 592 | break; |
salco | 22:a2c875629f2d | 593 | case 6://#20 |
salco | 0:e4151abdff23 | 594 | m_posLeg[0] = 133; |
salco | 0:e4151abdff23 | 595 | break; |
salco | 22:a2c875629f2d | 596 | case 7://#24 |
salco | 0:e4151abdff23 | 597 | m_posLeg[0] = 170; |
salco | 0:e4151abdff23 | 598 | break; |
salco | 22:a2c875629f2d | 599 | default://#12 #28 |
salco | 0:e4151abdff23 | 600 | m_posLeg[0] = 150; |
salco | 0:e4151abdff23 | 601 | break; |
salco | 0:e4151abdff23 | 602 | } |
salco | 22:a2c875629f2d | 603 | if(downUP) { |
salco | 19:0ac80045ba4c | 604 | if(idLeg<5) |
salco | 19:0ac80045ba4c | 605 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1]; |
salco | 19:0ac80045ba4c | 606 | else |
salco | 19:0ac80045ba4c | 607 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1]; |
salco | 22:a2c875629f2d | 608 | } else { |
salco | 19:0ac80045ba4c | 609 | if(idLeg<5) |
salco | 19:0ac80045ba4c | 610 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1]; |
salco | 19:0ac80045ba4c | 611 | else |
salco | 19:0ac80045ba4c | 612 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1]; |
salco | 22:a2c875629f2d | 613 | } |
salco | 19:0ac80045ba4c | 614 | /*if(idOperation == 1) { |
salco | 0:e4151abdff23 | 615 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 616 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 617 | m_posLeg[2] = 210; |
salco | 0:e4151abdff23 | 618 | m_posLeg[3] = 160; |
salco | 0:e4151abdff23 | 619 | } else { |
salco | 0:e4151abdff23 | 620 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 621 | m_posLeg[2] = 90; |
salco | 0:e4151abdff23 | 622 | m_posLeg[3] = 114; |
salco | 0:e4151abdff23 | 623 | } |
salco | 0:e4151abdff23 | 624 | |
salco | 0:e4151abdff23 | 625 | } else { |
salco | 0:e4151abdff23 | 626 | if(!downUP) { |
salco | 0:e4151abdff23 | 627 | if(idOperation == 9) { |
salco | 0:e4151abdff23 | 628 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 629 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 630 | m_posLeg[2] = 100; |
salco | 0:e4151abdff23 | 631 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 632 | } else { |
salco | 0:e4151abdff23 | 633 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 634 | m_posLeg[2] = 200; |
salco | 0:e4151abdff23 | 635 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 636 | } |
salco | 0:e4151abdff23 | 637 | } |
salco | 0:e4151abdff23 | 638 | idOperation = 10 - idOperation; |
salco | 0:e4151abdff23 | 639 | } |
salco | 0:e4151abdff23 | 640 | |
salco | 0:e4151abdff23 | 641 | switch(idOperation) { |
salco | 19:0ac80045ba4c | 642 | case 1: |
salco | 0:e4151abdff23 | 643 | |
salco | 19:0ac80045ba4c | 644 | break; |
salco | 0:e4151abdff23 | 645 | case 2: |
salco | 0:e4151abdff23 | 646 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 647 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 648 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 649 | m_posLeg[3] = 170; |
salco | 0:e4151abdff23 | 650 | } else { |
salco | 0:e4151abdff23 | 651 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 652 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 653 | m_posLeg[3] = 130; |
salco | 0:e4151abdff23 | 654 | } |
salco | 0:e4151abdff23 | 655 | break; |
salco | 0:e4151abdff23 | 656 | case 3: |
salco | 0:e4151abdff23 | 657 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 658 | m_posLeg[1] = 90; |
salco | 0:e4151abdff23 | 659 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 660 | m_posLeg[3] = 160; |
salco | 0:e4151abdff23 | 661 | } else { |
salco | 0:e4151abdff23 | 662 | m_posLeg[1] = 200; |
salco | 0:e4151abdff23 | 663 | m_posLeg[2] = 200; |
salco | 0:e4151abdff23 | 664 | m_posLeg[3] = 140; |
salco | 0:e4151abdff23 | 665 | } |
salco | 0:e4151abdff23 | 666 | break; |
salco | 0:e4151abdff23 | 667 | case 4: |
salco | 0:e4151abdff23 | 668 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 669 | m_posLeg[1] = 106; |
salco | 0:e4151abdff23 | 670 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 671 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 672 | } else { |
salco | 0:e4151abdff23 | 673 | m_posLeg[1] = 195; |
salco | 0:e4151abdff23 | 674 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 675 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 676 | } |
salco | 0:e4151abdff23 | 677 | break; |
salco | 0:e4151abdff23 | 678 | case 5: |
salco | 0:e4151abdff23 | 679 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 680 | m_posLeg[1] = 128; |
salco | 0:e4151abdff23 | 681 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 682 | m_posLeg[3] = 128; |
salco | 0:e4151abdff23 | 683 | } else { |
salco | 0:e4151abdff23 | 684 | m_posLeg[1] = 172; |
salco | 0:e4151abdff23 | 685 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 686 | m_posLeg[3] = 173; |
salco | 0:e4151abdff23 | 687 | } |
salco | 0:e4151abdff23 | 688 | break; |
salco | 0:e4151abdff23 | 689 | case 6: |
salco | 0:e4151abdff23 | 690 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 691 | m_posLeg[1] = 144; |
salco | 0:e4151abdff23 | 692 | m_posLeg[2] = 205; |
salco | 0:e4151abdff23 | 693 | m_posLeg[3] = 130; |
salco | 0:e4151abdff23 | 694 | } else { |
salco | 0:e4151abdff23 | 695 | m_posLeg[1] = 156; |
salco | 0:e4151abdff23 | 696 | m_posLeg[2] = 95; |
salco | 0:e4151abdff23 | 697 | m_posLeg[3] = 170; |
salco | 0:e4151abdff23 | 698 | } |
salco | 0:e4151abdff23 | 699 | break; |
salco | 0:e4151abdff23 | 700 | case 7: |
salco | 0:e4151abdff23 | 701 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 702 | m_posLeg[1] = 144; |
salco | 0:e4151abdff23 | 703 | m_posLeg[2] = 211; |
salco | 0:e4151abdff23 | 704 | m_posLeg[3] = 123; |
salco | 0:e4151abdff23 | 705 | } else { |
salco | 0:e4151abdff23 | 706 | m_posLeg[1] = 156; |
salco | 0:e4151abdff23 | 707 | m_posLeg[2] = 89; |
salco | 0:e4151abdff23 | 708 | m_posLeg[3] = 177; |
salco | 0:e4151abdff23 | 709 | } |
salco | 0:e4151abdff23 | 710 | break; |
salco | 0:e4151abdff23 | 711 | case 8: |
salco | 0:e4151abdff23 | 712 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 713 | m_posLeg[1] = 172; |
salco | 0:e4151abdff23 | 714 | m_posLeg[2] = 185; |
salco | 0:e4151abdff23 | 715 | m_posLeg[3] = 124; |
salco | 0:e4151abdff23 | 716 | } else { |
salco | 0:e4151abdff23 | 717 | m_posLeg[1] = 128; |
salco | 0:e4151abdff23 | 718 | m_posLeg[2] = 115; |
salco | 0:e4151abdff23 | 719 | m_posLeg[3] = 176; |
salco | 0:e4151abdff23 | 720 | } |
salco | 0:e4151abdff23 | 721 | break; |
salco | 0:e4151abdff23 | 722 | case 9: |
salco | 0:e4151abdff23 | 723 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 724 | m_posLeg[1] = 194; |
salco | 0:e4151abdff23 | 725 | m_posLeg[2] = 166; |
salco | 0:e4151abdff23 | 726 | m_posLeg[3] = 118; |
salco | 0:e4151abdff23 | 727 | } else { |
salco | 0:e4151abdff23 | 728 | m_posLeg[1] = 106; |
salco | 0:e4151abdff23 | 729 | m_posLeg[2] = 134; |
salco | 0:e4151abdff23 | 730 | m_posLeg[3] = 182; |
salco | 0:e4151abdff23 | 731 | } |
salco | 0:e4151abdff23 | 732 | break; |
salco | 19:0ac80045ba4c | 733 | default: |
salco | 19:0ac80045ba4c | 734 | m_posLeg[0] = 0; |
salco | 19:0ac80045ba4c | 735 | m_posLeg[1] = 0; |
salco | 19:0ac80045ba4c | 736 | m_posLeg[2] = 0; |
salco | 19:0ac80045ba4c | 737 | m_posLeg[3] = 0; |
salco | 19:0ac80045ba4c | 738 | break; |
salco | 0:e4151abdff23 | 739 | } |
salco | 19:0ac80045ba4c | 740 | }*/ |
salco | 0:e4151abdff23 | 741 | } |
salco | 0:e4151abdff23 | 742 | } |
salco | 0:e4151abdff23 | 743 | void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg) |
salco | 22:a2c875629f2d | 744 | { |
salco | 22:a2c875629f2d | 745 | if(idOperation<32) { |
salco | 22:a2c875629f2d | 746 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqTurn[idOperation-1][idLeg-1][i-1]; |
salco | 22:a2c875629f2d | 747 | delaisNeed = (table_seqTurn_PAUSE_TIME[idOperation-1][0])*10; |
salco | 22:a2c875629f2d | 748 | timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1]; |
salco | 22:a2c875629f2d | 749 | |
salco | 22:a2c875629f2d | 750 | switch(idOperation) { |
salco | 22:a2c875629f2d | 751 | |
salco | 22:a2c875629f2d | 752 | case 3: |
salco | 22:a2c875629f2d | 753 | switch(idLeg) { //moving hips |
salco | 22:a2c875629f2d | 754 | case 3://#8 |
salco | 22:a2c875629f2d | 755 | m_posLeg[0]= (leftRIGHT)? 180:140; |
salco | 22:a2c875629f2d | 756 | break; |
salco | 22:a2c875629f2d | 757 | case 6://#20 |
salco | 22:a2c875629f2d | 758 | m_posLeg[0]= (leftRIGHT)? 150:114; |
salco | 22:a2c875629f2d | 759 | break; |
salco | 22:a2c875629f2d | 760 | } |
salco | 22:a2c875629f2d | 761 | break; |
salco | 22:a2c875629f2d | 762 | case 11: |
salco | 22:a2c875629f2d | 763 | switch(idLeg) { //moving hips |
salco | 22:a2c875629f2d | 764 | case 1://#0 |
salco | 22:a2c875629f2d | 765 | m_posLeg[0]= (leftRIGHT)? 150:110; |
salco | 22:a2c875629f2d | 766 | break; |
salco | 22:a2c875629f2d | 767 | case 7://28 |
salco | 22:a2c875629f2d | 768 | m_posLeg[0]= (leftRIGHT)? 164:104; |
salco | 22:a2c875629f2d | 769 | break; |
salco | 22:a2c875629f2d | 770 | } |
salco | 22:a2c875629f2d | 771 | break; |
salco | 22:a2c875629f2d | 772 | case 17: |
salco | 22:a2c875629f2d | 773 | switch(idLeg) { //moving hips |
salco | 22:a2c875629f2d | 774 | case 1://#0 |
salco | 22:a2c875629f2d | 775 | m_posLeg[0]= 140; |
salco | 22:a2c875629f2d | 776 | break; |
salco | 22:a2c875629f2d | 777 | case 2://4 |
salco | 22:a2c875629f2d | 778 | m_posLeg[0]= (leftRIGHT)? 150:176; |
salco | 22:a2c875629f2d | 779 | break; |
salco | 22:a2c875629f2d | 780 | case 3://8 |
salco | 22:a2c875629f2d | 781 | m_posLeg[0]= 160; |
salco | 22:a2c875629f2d | 782 | break; |
salco | 22:a2c875629f2d | 783 | case 6://20 |
salco | 22:a2c875629f2d | 784 | m_posLeg[0]= 133; |
salco | 22:a2c875629f2d | 785 | break; |
salco | 22:a2c875629f2d | 786 | case 7://24 |
salco | 22:a2c875629f2d | 787 | m_posLeg[0]= (leftRIGHT)? 153:183; |
salco | 22:a2c875629f2d | 788 | break; |
salco | 22:a2c875629f2d | 789 | case 8://28 |
salco | 22:a2c875629f2d | 790 | m_posLeg[0]= 133; |
salco | 22:a2c875629f2d | 791 | break; |
salco | 22:a2c875629f2d | 792 | } |
salco | 22:a2c875629f2d | 793 | if((idLeg != 4) || (idLeg != 5)) |
salco | 22:a2c875629f2d | 794 | timeSequence[idLeg-1] = 30; |
salco | 22:a2c875629f2d | 795 | |
salco | 22:a2c875629f2d | 796 | break; |
salco | 22:a2c875629f2d | 797 | |
salco | 22:a2c875629f2d | 798 | case 25: |
salco | 22:a2c875629f2d | 799 | if(idLeg == 7) |
salco | 22:a2c875629f2d | 800 | m_posLeg[0] = 170; |
salco | 22:a2c875629f2d | 801 | break; |
salco | 22:a2c875629f2d | 802 | |
salco | 22:a2c875629f2d | 803 | case 29: |
salco | 22:a2c875629f2d | 804 | if(idLeg == 2) |
salco | 22:a2c875629f2d | 805 | m_posLeg[0] = 165; |
salco | 22:a2c875629f2d | 806 | break; |
salco | 22:a2c875629f2d | 807 | //case : |
salco | 22:a2c875629f2d | 808 | //break; |
salco | 22:a2c875629f2d | 809 | default: |
salco | 22:a2c875629f2d | 810 | m_posLeg[0]= 255; |
salco | 22:a2c875629f2d | 811 | break; |
salco | 22:a2c875629f2d | 812 | } |
salco | 22:a2c875629f2d | 813 | |
salco | 22:a2c875629f2d | 814 | |
salco | 22:a2c875629f2d | 815 | |
salco | 22:a2c875629f2d | 816 | } else |
salco | 22:a2c875629f2d | 817 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 22:a2c875629f2d | 818 | } |
salco | 0:e4151abdff23 | 819 | void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg) |
salco | 25:f3bd72f1dd8d | 820 | { |
salco | 25:f3bd72f1dd8d | 821 | if(backFRONT) { |
salco | 25:f3bd72f1dd8d | 822 | if(idOperation<41) { |
salco | 25:f3bd72f1dd8d | 823 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqFoward[idOperation-1][idLeg-1][i-1]; |
salco | 25:f3bd72f1dd8d | 824 | delaisNeed = (table_seqFoward_PAUSE_TIME[idOperation-1][0])*10; |
salco | 25:f3bd72f1dd8d | 825 | timeSequence[idLeg-1] = table_seqFoward_PAUSE_TIME[idOperation-1][1]; |
salco | 25:f3bd72f1dd8d | 826 | |
salco | 25:f3bd72f1dd8d | 827 | //manque qqch ici |
salco | 26:15cb45d56c28 | 828 | switch(idOperation) |
salco | 26:15cb45d56c28 | 829 | { |
salco | 26:15cb45d56c28 | 830 | case 3: |
salco | 26:15cb45d56c28 | 831 | if(idLeg == 1) m_posLeg[0] = 150; |
salco | 26:15cb45d56c28 | 832 | else if(idLeg == 6) m_posLeg[0] = 123; |
salco | 26:15cb45d56c28 | 833 | break; |
salco | 26:15cb45d56c28 | 834 | |
salco | 26:15cb45d56c28 | 835 | case 5: |
salco | 26:15cb45d56c28 | 836 | if((idLeg ==1) || (idLeg==6)) |
salco | 26:15cb45d56c28 | 837 | timeSequence[idLeg-1] = 30; |
salco | 26:15cb45d56c28 | 838 | break; |
salco | 26:15cb45d56c28 | 839 | |
salco | 26:15cb45d56c28 | 840 | case 7: |
salco | 26:15cb45d56c28 | 841 | if(idLeg == 3)m_posLeg[0] = 187; |
salco | 26:15cb45d56c28 | 842 | else if(idLeg == 8) m_posLeg[0] = 123; |
salco | 26:15cb45d56c28 | 843 | break; |
salco | 26:15cb45d56c28 | 844 | |
salco | 26:15cb45d56c28 | 845 | case 11: |
salco | 26:15cb45d56c28 | 846 | switch(idLeg) |
salco | 26:15cb45d56c28 | 847 | { |
salco | 26:15cb45d56c28 | 848 | case 1: |
salco | 26:15cb45d56c28 | 849 | m_posLeg[0] = 130; |
salco | 26:15cb45d56c28 | 850 | break; |
salco | 26:15cb45d56c28 | 851 | case 2: |
salco | 26:15cb45d56c28 | 852 | m_posLeg[0] = 140; |
salco | 26:15cb45d56c28 | 853 | break; |
salco | 26:15cb45d56c28 | 854 | case 3: |
salco | 26:15cb45d56c28 | 855 | m_posLeg[0] = 160; |
salco | 26:15cb45d56c28 | 856 | break; |
salco | 26:15cb45d56c28 | 857 | case 4: |
salco | 26:15cb45d56c28 | 858 | m_posLeg[0] = 117; |
salco | 26:15cb45d56c28 | 859 | break; |
salco | 26:15cb45d56c28 | 860 | case 5: |
salco | 26:15cb45d56c28 | 861 | m_posLeg[0] = 179; |
salco | 26:15cb45d56c28 | 862 | break; |
salco | 26:15cb45d56c28 | 863 | case 6: |
salco | 26:15cb45d56c28 | 864 | m_posLeg[0] = 134; |
salco | 26:15cb45d56c28 | 865 | break; |
salco | 26:15cb45d56c28 | 866 | case 7: |
salco | 26:15cb45d56c28 | 867 | m_posLeg[0] = 183; |
salco | 26:15cb45d56c28 | 868 | break; |
salco | 26:15cb45d56c28 | 869 | case 8: |
salco | 26:15cb45d56c28 | 870 | m_posLeg[0] = 144; |
salco | 26:15cb45d56c28 | 871 | break; |
salco | 26:15cb45d56c28 | 872 | } |
salco | 26:15cb45d56c28 | 873 | break; |
salco | 26:15cb45d56c28 | 874 | |
salco | 26:15cb45d56c28 | 875 | case 16: |
salco | 26:15cb45d56c28 | 876 | if(idLeg == 1) m_posLeg[0] = 137; |
salco | 26:15cb45d56c28 | 877 | break; |
salco | 26:15cb45d56c28 | 878 | |
salco | 26:15cb45d56c28 | 879 | case 20: |
salco | 26:15cb45d56c28 | 880 | if(idLeg == 5) m_posLeg[0] = 176; |
salco | 26:15cb45d56c28 | 881 | else if(idLeg == 7) m_posLeg[0] = 160; |
salco | 26:15cb45d56c28 | 882 | break; |
salco | 26:15cb45d56c28 | 883 | |
salco | 26:15cb45d56c28 | 884 | case 22: |
salco | 26:15cb45d56c28 | 885 | if((idLeg ==2) || (idLeg==7)) |
salco | 26:15cb45d56c28 | 886 | timeSequence[idLeg-1] = 30; |
salco | 26:15cb45d56c28 | 887 | break; |
salco | 26:15cb45d56c28 | 888 | |
salco | 26:15cb45d56c28 | 889 | case 24: |
salco | 26:15cb45d56c28 | 890 | if(idLeg == 4) m_posLeg[0] = 177; |
salco | 26:15cb45d56c28 | 891 | else if(idLeg == 5) m_posLeg[0] = 133; |
salco | 26:15cb45d56c28 | 892 | break; |
salco | 26:15cb45d56c28 | 893 | |
salco | 26:15cb45d56c28 | 894 | } |
salco | 25:f3bd72f1dd8d | 895 | } else |
salco | 25:f3bd72f1dd8d | 896 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 25:f3bd72f1dd8d | 897 | |
salco | 25:f3bd72f1dd8d | 898 | } else { |
salco | 25:f3bd72f1dd8d | 899 | if(idOperation<33) { |
salco | 25:f3bd72f1dd8d | 900 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqBackward[idOperation-1][idLeg-1][i-1]; |
salco | 25:f3bd72f1dd8d | 901 | delaisNeed = (table_seqBackward_PAUSE_TIME[idOperation-1][0])*10; |
salco | 25:f3bd72f1dd8d | 902 | timeSequence[idLeg-1] = table_seqBackward_PAUSE_TIME[idOperation-1][1]; |
salco | 25:f3bd72f1dd8d | 903 | |
salco | 25:f3bd72f1dd8d | 904 | //manque qqch ici |
salco | 25:f3bd72f1dd8d | 905 | } else |
salco | 25:f3bd72f1dd8d | 906 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 25:f3bd72f1dd8d | 907 | } |
salco | 25:f3bd72f1dd8d | 908 | } |
salco | 0:e4151abdff23 | 909 | void homemadeSequence::seqRepositioner(char idOperation,char idLeg) |
salco | 22:a2c875629f2d | 910 | { |
salco | 22:a2c875629f2d | 911 | if(idOperation<6) { |
salco | 22:a2c875629f2d | 912 | if(m_idLegUse == idLeg) { |
salco | 22:a2c875629f2d | 913 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqRepositionne[idOperation-1][idLeg-1][i-1]; |
salco | 22:a2c875629f2d | 914 | |
salco | 22:a2c875629f2d | 915 | timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1]; |
salco | 22:a2c875629f2d | 916 | |
salco | 22:a2c875629f2d | 917 | if(idOperation == 5) { |
salco | 22:a2c875629f2d | 918 | switch(idLeg) { |
salco | 22:a2c875629f2d | 919 | case 1: |
salco | 22:a2c875629f2d | 920 | m_posLeg[0] = 137; |
salco | 22:a2c875629f2d | 921 | break; |
salco | 22:a2c875629f2d | 922 | case 2: |
salco | 22:a2c875629f2d | 923 | m_posLeg[0] = 165; |
salco | 22:a2c875629f2d | 924 | break; |
salco | 22:a2c875629f2d | 925 | case 3: |
salco | 22:a2c875629f2d | 926 | m_posLeg[0] = 160; |
salco | 22:a2c875629f2d | 927 | break; |
salco | 22:a2c875629f2d | 928 | case 4: |
salco | 22:a2c875629f2d | 929 | m_posLeg[0] = 150; |
salco | 22:a2c875629f2d | 930 | break; |
salco | 22:a2c875629f2d | 931 | case 5: |
salco | 22:a2c875629f2d | 932 | m_posLeg[0] = 153; |
salco | 22:a2c875629f2d | 933 | break; |
salco | 22:a2c875629f2d | 934 | case 6: |
salco | 22:a2c875629f2d | 935 | m_posLeg[0] = 133; |
salco | 22:a2c875629f2d | 936 | break; |
salco | 22:a2c875629f2d | 937 | case 7: |
salco | 22:a2c875629f2d | 938 | m_posLeg[0] = 170; |
salco | 22:a2c875629f2d | 939 | break; |
salco | 22:a2c875629f2d | 940 | case 8: |
salco | 22:a2c875629f2d | 941 | m_posLeg[0] = 144; |
salco | 22:a2c875629f2d | 942 | break; |
salco | 22:a2c875629f2d | 943 | } |
salco | 22:a2c875629f2d | 944 | } |
salco | 22:a2c875629f2d | 945 | |
salco | 22:a2c875629f2d | 946 | } else |
salco | 22:a2c875629f2d | 947 | for(int i=0; i <= 3; i++)m_posLeg[i]=255; |
salco | 22:a2c875629f2d | 948 | delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10; |
salco | 22:a2c875629f2d | 949 | } else |
salco | 22:a2c875629f2d | 950 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 22:a2c875629f2d | 951 | } |
salco | 0:e4151abdff23 | 952 | void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg) |
salco | 21:5c17b7836733 | 953 | { |
salco | 22:a2c875629f2d | 954 | if(idOperation<33) { |
salco | 22:a2c875629f2d | 955 | if(leftRIGHT) |
salco | 22:a2c875629f2d | 956 | idOperation=33-idOperation; |
salco | 22:a2c875629f2d | 957 | |
salco | 21:5c17b7836733 | 958 | switch(idLeg) { //moving hips |
salco | 21:5c17b7836733 | 959 | case 1: |
salco | 21:5c17b7836733 | 960 | m_posLeg[0] = 140; |
salco | 21:5c17b7836733 | 961 | break; |
salco | 21:5c17b7836733 | 962 | case 2: |
salco | 21:5c17b7836733 | 963 | m_posLeg[0] = 165; |
salco | 21:5c17b7836733 | 964 | break; |
salco | 21:5c17b7836733 | 965 | case 3: |
salco | 21:5c17b7836733 | 966 | m_posLeg[0] = 160; |
salco | 21:5c17b7836733 | 967 | break; |
salco | 21:5c17b7836733 | 968 | case 6: |
salco | 21:5c17b7836733 | 969 | m_posLeg[0] = 133; |
salco | 21:5c17b7836733 | 970 | break; |
salco | 21:5c17b7836733 | 971 | case 7: |
salco | 21:5c17b7836733 | 972 | m_posLeg[0] = 170; |
salco | 21:5c17b7836733 | 973 | break; |
salco | 21:5c17b7836733 | 974 | default: |
salco | 21:5c17b7836733 | 975 | m_posLeg[0] = 150; |
salco | 21:5c17b7836733 | 976 | break; |
salco | 21:5c17b7836733 | 977 | } |
salco | 22:a2c875629f2d | 978 | |
salco | 21:5c17b7836733 | 979 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqCrabe[idOperation-1][idLeg-1][i-1]; |
salco | 22:a2c875629f2d | 980 | |
salco | 22:a2c875629f2d | 981 | |
salco | 21:5c17b7836733 | 982 | //inclure ici un truc de gestion des 0 parce que sa veux pas dire erreur mais juste pas changer cette patte la a ce frame la |
salco | 22:a2c875629f2d | 983 | } else |
salco | 22:a2c875629f2d | 984 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 22:a2c875629f2d | 985 | |
salco | 22:a2c875629f2d | 986 | |
salco | 21:5c17b7836733 | 987 | } |
salco | 0:e4151abdff23 | 988 | bool homemadeSequence::next_frame(void) |
salco | 0:e4151abdff23 | 989 | { |
salco | 19:0ac80045ba4c | 990 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame"); |
salco | 19:0ac80045ba4c | 991 | bool temp=false; |
salco | 19:0ac80045ba4c | 992 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 993 | |
salco | 22:a2c875629f2d | 994 | |
salco | 19:0ac80045ba4c | 995 | //if(m_idFrame > 1){ |
salco | 0:e4151abdff23 | 996 | m_idFrame++; |
salco | 19:0ac80045ba4c | 997 | unsigned char* tmpTable = get_frame(1); |
salco | 0:e4151abdff23 | 998 | |
salco | 22:a2c875629f2d | 999 | if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) { |
salco | 19:0ac80045ba4c | 1000 | temp=true; |
salco | 22:a2c875629f2d | 1001 | //m_idFrame++;//get_frame(m_idFrame); |
salco | 22:a2c875629f2d | 1002 | if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) { |
salco | 22:a2c875629f2d | 1003 | delaisNextSeq.reset(); |
salco | 22:a2c875629f2d | 1004 | delaisNeed=-1; |
salco | 22:a2c875629f2d | 1005 | for(int i=0; i<8; i++)timeSequence[i]=0; |
salco | 22:a2c875629f2d | 1006 | } else |
salco | 22:a2c875629f2d | 1007 | m_idFrame--; |
salco | 22:a2c875629f2d | 1008 | } else |
salco | 19:0ac80045ba4c | 1009 | m_idFrame--; |
salco | 19:0ac80045ba4c | 1010 | |
salco | 19:0ac80045ba4c | 1011 | //} |
salco | 19:0ac80045ba4c | 1012 | //} |
salco | 19:0ac80045ba4c | 1013 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 1014 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame"); |
salco | 22:a2c875629f2d | 1015 | |
salco | 0:e4151abdff23 | 1016 | return temp; |
salco | 0:e4151abdff23 | 1017 | } |
salco | 19:0ac80045ba4c | 1018 | bool homemadeSequence::prev_frame(void) //true == prev is ok |
salco | 0:e4151abdff23 | 1019 | { |
salco | 19:0ac80045ba4c | 1020 | //false == impossible |
salco | 19:0ac80045ba4c | 1021 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame"); |
salco | 19:0ac80045ba4c | 1022 | bool temp=false; |
salco | 19:0ac80045ba4c | 1023 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 1024 | |
salco | 22:a2c875629f2d | 1025 | |
salco | 19:0ac80045ba4c | 1026 | if(m_idFrame > 1) { |
salco | 19:0ac80045ba4c | 1027 | m_idFrame--; |
salco | 19:0ac80045ba4c | 1028 | unsigned char* tmpTable = get_frame(1); |
salco | 0:e4151abdff23 | 1029 | |
salco | 22:a2c875629f2d | 1030 | if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) { |
salco | 19:0ac80045ba4c | 1031 | temp=true; |
salco | 22:a2c875629f2d | 1032 | //m_idFrame++;//get_frame(m_idFrame); |
salco | 22:a2c875629f2d | 1033 | if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) { |
salco | 22:a2c875629f2d | 1034 | delaisNextSeq.reset(); |
salco | 22:a2c875629f2d | 1035 | delaisNeed=-1; |
salco | 22:a2c875629f2d | 1036 | for(int i=0; i<8; i++)timeSequence[i]=0; |
salco | 22:a2c875629f2d | 1037 | } else |
salco | 22:a2c875629f2d | 1038 | m_idFrame++; |
salco | 22:a2c875629f2d | 1039 | } else |
salco | 19:0ac80045ba4c | 1040 | m_idFrame++; |
salco | 19:0ac80045ba4c | 1041 | |
salco | 19:0ac80045ba4c | 1042 | //} |
salco | 19:0ac80045ba4c | 1043 | } |
salco | 19:0ac80045ba4c | 1044 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 1045 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame"); |
salco | 22:a2c875629f2d | 1046 | |
salco | 0:e4151abdff23 | 1047 | return temp; |
salco | 0:e4151abdff23 | 1048 | } |