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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/Patte.h@1:25ea21da4542, 2015-03-11 (annotated)
- Committer:
- salco
- Date:
- Wed Mar 11 21:57:26 2015 +0000
- Revision:
- 1:25ea21da4542
- Parent:
- source/Patte.h@0:e4151abdff23
Changer les doccuments pour des noms plus generique et creation de nouveau sous repertoire.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 0:e4151abdff23 | 1 | /* |
salco | 0:e4151abdff23 | 2 | * Patte.h |
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 | #ifndef PATTE_H_ |
salco | 0:e4151abdff23 | 8 | #define PATTE_H_ |
salco | 0:e4151abdff23 | 9 | |
salco | 0:e4151abdff23 | 10 | #define NBR_SERVO 32 |
salco | 0:e4151abdff23 | 11 | #define DEFAULTPOSITION 150 |
salco | 0:e4151abdff23 | 12 | #define DEFAULTMAX 225 |
salco | 0:e4151abdff23 | 13 | #define DEFAULTMIN 75 |
salco | 0:e4151abdff23 | 14 | |
salco | 0:e4151abdff23 | 15 | //#include <string> |
salco | 0:e4151abdff23 | 16 | #include <stdio.h> |
salco | 0:e4151abdff23 | 17 | |
salco | 0:e4151abdff23 | 18 | struct servo_t { |
salco | 0:e4151abdff23 | 19 | char iD; //use for ssc-32 |
salco | 0:e4151abdff23 | 20 | // all value down is a pulse value between 750-2250 // |
salco | 0:e4151abdff23 | 21 | unsigned char basePose; |
salco | 0:e4151abdff23 | 22 | unsigned char max; |
salco | 0:e4151abdff23 | 23 | unsigned char min; |
salco | 0:e4151abdff23 | 24 | // mabey change curr for a integer to get more precision and less space // |
salco | 0:e4151abdff23 | 25 | unsigned char curr; |
salco | 0:e4151abdff23 | 26 | }; |
salco | 0:e4151abdff23 | 27 | |
salco | 0:e4151abdff23 | 28 | class Patte |
salco | 0:e4151abdff23 | 29 | { |
salco | 0:e4151abdff23 | 30 | // number related to the SSC-32 // |
salco | 0:e4151abdff23 | 31 | /*char m_numServo_Coxa; |
salco | 0:e4151abdff23 | 32 | char m_numServo_Femur; |
salco | 0:e4151abdff23 | 33 | char m_numServo_Tibia; |
salco | 0:e4151abdff23 | 34 | char m_numServo_Tars;*/ |
salco | 0:e4151abdff23 | 35 | char m_id; |
salco | 0:e4151abdff23 | 36 | servo_t m_Coxa; |
salco | 0:e4151abdff23 | 37 | servo_t m_Femur; |
salco | 0:e4151abdff23 | 38 | servo_t m_Tibia; |
salco | 0:e4151abdff23 | 39 | servo_t m_Tars; |
salco | 0:e4151abdff23 | 40 | char buffer [50]; |
salco | 0:e4151abdff23 | 41 | |
salco | 0:e4151abdff23 | 42 | public: |
salco | 0:e4151abdff23 | 43 | Patte(char patteId,char coxaId,char femurId,char tibiaId,char tarsId) { |
salco | 0:e4151abdff23 | 44 | m_id = patteId; |
salco | 0:e4151abdff23 | 45 | |
salco | 0:e4151abdff23 | 46 | m_Coxa.iD = coxaId; |
salco | 0:e4151abdff23 | 47 | m_Coxa.max = DEFAULTMAX; |
salco | 0:e4151abdff23 | 48 | m_Coxa.min = DEFAULTMIN; |
salco | 0:e4151abdff23 | 49 | m_Coxa.curr= DEFAULTPOSITION; |
salco | 0:e4151abdff23 | 50 | |
salco | 0:e4151abdff23 | 51 | m_Femur.iD = femurId; |
salco | 0:e4151abdff23 | 52 | m_Femur.max = DEFAULTMAX; |
salco | 0:e4151abdff23 | 53 | m_Femur.min = DEFAULTMIN; |
salco | 0:e4151abdff23 | 54 | m_Femur.curr= DEFAULTPOSITION; |
salco | 0:e4151abdff23 | 55 | |
salco | 0:e4151abdff23 | 56 | m_Tibia.iD = tibiaId; |
salco | 0:e4151abdff23 | 57 | m_Tibia.max = DEFAULTMAX; |
salco | 0:e4151abdff23 | 58 | m_Tibia.min = DEFAULTMIN; |
salco | 0:e4151abdff23 | 59 | m_Tibia.curr= DEFAULTPOSITION; |
salco | 0:e4151abdff23 | 60 | |
salco | 0:e4151abdff23 | 61 | m_Tars.iD = tarsId; |
salco | 0:e4151abdff23 | 62 | m_Tars.max = DEFAULTMAX; |
salco | 0:e4151abdff23 | 63 | m_Tars.min = DEFAULTMIN; |
salco | 0:e4151abdff23 | 64 | m_Tars.curr= DEFAULTPOSITION; |
salco | 0:e4151abdff23 | 65 | } |
salco | 0:e4151abdff23 | 66 | virtual ~Patte(){} |
salco | 0:e4151abdff23 | 67 | char id(void) { |
salco | 0:e4151abdff23 | 68 | return m_id; |
salco | 0:e4151abdff23 | 69 | } |
salco | 0:e4151abdff23 | 70 | const char* toString(void){ |
salco | 0:e4151abdff23 | 71 | |
salco | 0:e4151abdff23 | 72 | sprintf (buffer,"#%d P%d #%d P%d #%d P%d #%d P%d",m_Coxa.iD,m_Coxa.curr,m_Femur.iD,m_Femur.curr,m_Tibia.iD,m_Tibia.curr,m_Tars.iD,m_Tars.curr); |
salco | 0:e4151abdff23 | 73 | return buffer; |
salco | 0:e4151abdff23 | 74 | } |
salco | 0:e4151abdff23 | 75 | //setting Coxa // |
salco | 0:e4151abdff23 | 76 | void set_Id_Coxa(char id) { |
salco | 0:e4151abdff23 | 77 | m_Coxa.iD = id; |
salco | 0:e4151abdff23 | 78 | } |
salco | 0:e4151abdff23 | 79 | void set_PulseMax_Coxa(unsigned char value) { |
salco | 0:e4151abdff23 | 80 | m_Coxa.max = value; |
salco | 0:e4151abdff23 | 81 | } |
salco | 0:e4151abdff23 | 82 | void set_PulseMin_Coxa(unsigned char value) { |
salco | 0:e4151abdff23 | 83 | m_Coxa.min = value; |
salco | 0:e4151abdff23 | 84 | } |
salco | 0:e4151abdff23 | 85 | void set_DefaultPulse_Coxa(unsigned char value) { |
salco | 0:e4151abdff23 | 86 | m_Coxa.basePose = value; |
salco | 0:e4151abdff23 | 87 | } |
salco | 0:e4151abdff23 | 88 | char get_Id_Coxa(void) { |
salco | 0:e4151abdff23 | 89 | return m_Coxa.iD; |
salco | 0:e4151abdff23 | 90 | } |
salco | 0:e4151abdff23 | 91 | unsigned char get_PulseMax_Coxa(void) { |
salco | 0:e4151abdff23 | 92 | return m_Coxa.max; |
salco | 0:e4151abdff23 | 93 | } |
salco | 0:e4151abdff23 | 94 | unsigned char get_PulseMin_Coxa(void) { |
salco | 0:e4151abdff23 | 95 | return m_Coxa.min; |
salco | 0:e4151abdff23 | 96 | } |
salco | 0:e4151abdff23 | 97 | unsigned char get_DefaultPulse_Coxa(void) { |
salco | 0:e4151abdff23 | 98 | return m_Coxa.basePose; |
salco | 0:e4151abdff23 | 99 | } |
salco | 0:e4151abdff23 | 100 | unsigned char get_CurrentPulse_Coxa(void) { |
salco | 0:e4151abdff23 | 101 | return m_Coxa.curr; |
salco | 0:e4151abdff23 | 102 | } |
salco | 0:e4151abdff23 | 103 | //setting Femur // |
salco | 0:e4151abdff23 | 104 | void set_Id_Femur(char id) { |
salco | 0:e4151abdff23 | 105 | m_Femur.iD = id; |
salco | 0:e4151abdff23 | 106 | } |
salco | 0:e4151abdff23 | 107 | void set_PulseMax_Femur(unsigned char value) { |
salco | 0:e4151abdff23 | 108 | m_Femur.max = value; |
salco | 0:e4151abdff23 | 109 | } |
salco | 0:e4151abdff23 | 110 | void set_PulseMin_Femur(unsigned char value) { |
salco | 0:e4151abdff23 | 111 | m_Femur.min = value; |
salco | 0:e4151abdff23 | 112 | } |
salco | 0:e4151abdff23 | 113 | void set_DefaultPulse_Femur(unsigned char value) { |
salco | 0:e4151abdff23 | 114 | m_Femur.basePose = value; |
salco | 0:e4151abdff23 | 115 | } |
salco | 0:e4151abdff23 | 116 | char get_Id_Femur(void) { |
salco | 0:e4151abdff23 | 117 | return m_Femur.iD; |
salco | 0:e4151abdff23 | 118 | } |
salco | 0:e4151abdff23 | 119 | unsigned char get_PulseMax_Femur(void) { |
salco | 0:e4151abdff23 | 120 | return m_Femur.max; |
salco | 0:e4151abdff23 | 121 | } |
salco | 0:e4151abdff23 | 122 | unsigned char get_PulseMin_Femur(void) { |
salco | 0:e4151abdff23 | 123 | return m_Femur.min; |
salco | 0:e4151abdff23 | 124 | } |
salco | 0:e4151abdff23 | 125 | unsigned char get_DefaultPulse_Femur(void) { |
salco | 0:e4151abdff23 | 126 | return m_Femur.basePose; |
salco | 0:e4151abdff23 | 127 | } |
salco | 0:e4151abdff23 | 128 | unsigned char get_CurrentPulse_Femur(void) { |
salco | 0:e4151abdff23 | 129 | return m_Femur.curr; |
salco | 0:e4151abdff23 | 130 | } |
salco | 0:e4151abdff23 | 131 | //setting Tibia // |
salco | 0:e4151abdff23 | 132 | void set_Id_Tibia(char id) { |
salco | 0:e4151abdff23 | 133 | m_Tibia.iD = id; |
salco | 0:e4151abdff23 | 134 | } |
salco | 0:e4151abdff23 | 135 | void set_PulseMax_Tibia(unsigned char value) { |
salco | 0:e4151abdff23 | 136 | m_Tibia.max = value; |
salco | 0:e4151abdff23 | 137 | } |
salco | 0:e4151abdff23 | 138 | void set_PulseMin_Tibia(unsigned char value) { |
salco | 0:e4151abdff23 | 139 | m_Tibia.min = value; |
salco | 0:e4151abdff23 | 140 | } |
salco | 0:e4151abdff23 | 141 | void set_DefaultPulse_Tibia(unsigned char value) { |
salco | 0:e4151abdff23 | 142 | m_Tibia.basePose = value; |
salco | 0:e4151abdff23 | 143 | } |
salco | 0:e4151abdff23 | 144 | char get_Id_Tibia(void) { |
salco | 0:e4151abdff23 | 145 | return m_Tibia.iD; |
salco | 0:e4151abdff23 | 146 | } |
salco | 0:e4151abdff23 | 147 | unsigned char get_PulseMax_Tibia(void) { |
salco | 0:e4151abdff23 | 148 | return m_Tibia.max; |
salco | 0:e4151abdff23 | 149 | } |
salco | 0:e4151abdff23 | 150 | unsigned char get_PulseMin_Tibia(void) { |
salco | 0:e4151abdff23 | 151 | return m_Tibia.min; |
salco | 0:e4151abdff23 | 152 | } |
salco | 0:e4151abdff23 | 153 | unsigned char get_DefaultPulse_Tibia(void) { |
salco | 0:e4151abdff23 | 154 | return m_Tibia.basePose; |
salco | 0:e4151abdff23 | 155 | } |
salco | 0:e4151abdff23 | 156 | unsigned char get_CurrentPulse_Tibia(void) { |
salco | 0:e4151abdff23 | 157 | return m_Tibia.curr; |
salco | 0:e4151abdff23 | 158 | } |
salco | 0:e4151abdff23 | 159 | //setting Tars // |
salco | 0:e4151abdff23 | 160 | void set_Id_Tars(char id) { |
salco | 0:e4151abdff23 | 161 | m_Tars.iD = id; |
salco | 0:e4151abdff23 | 162 | } |
salco | 0:e4151abdff23 | 163 | void set_PulseMax_Tars(unsigned char value) { |
salco | 0:e4151abdff23 | 164 | m_Tars.max = value; |
salco | 0:e4151abdff23 | 165 | } |
salco | 0:e4151abdff23 | 166 | void set_PulseMin_Tars(unsigned char value) { |
salco | 0:e4151abdff23 | 167 | m_Tars.min = value; |
salco | 0:e4151abdff23 | 168 | } |
salco | 0:e4151abdff23 | 169 | void set_DefaultPulse_Tars(unsigned char value) { |
salco | 0:e4151abdff23 | 170 | m_Tars.basePose = value; |
salco | 0:e4151abdff23 | 171 | } |
salco | 0:e4151abdff23 | 172 | char get_Id_Tars(void) { |
salco | 0:e4151abdff23 | 173 | return m_Tars.iD; |
salco | 0:e4151abdff23 | 174 | } |
salco | 0:e4151abdff23 | 175 | unsigned char get_PulseMax_Tars(void) { |
salco | 0:e4151abdff23 | 176 | return m_Tars.max; |
salco | 0:e4151abdff23 | 177 | } |
salco | 0:e4151abdff23 | 178 | unsigned char get_PulseMin_Tars(void) { |
salco | 0:e4151abdff23 | 179 | return m_Tars.min; |
salco | 0:e4151abdff23 | 180 | } |
salco | 0:e4151abdff23 | 181 | unsigned char get_DefaultPulse_Tars(void) { |
salco | 0:e4151abdff23 | 182 | return m_Tars.basePose; |
salco | 0:e4151abdff23 | 183 | } |
salco | 0:e4151abdff23 | 184 | unsigned char get_CurrentPulse_Tars(void) { |
salco | 0:e4151abdff23 | 185 | return m_Tars.curr; |
salco | 0:e4151abdff23 | 186 | } |
salco | 0:e4151abdff23 | 187 | //setting All-in-one // |
salco | 0:e4151abdff23 | 188 | void set_Id(char coxaId,char femurId,char tibiaId,char tarsId) { |
salco | 0:e4151abdff23 | 189 | m_Coxa.iD = coxaId; |
salco | 0:e4151abdff23 | 190 | m_Femur.iD= femurId; |
salco | 0:e4151abdff23 | 191 | m_Tibia.iD= tibiaId; |
salco | 0:e4151abdff23 | 192 | m_Tars.iD = tarsId; |
salco | 0:e4151abdff23 | 193 | } |
salco | 0:e4151abdff23 | 194 | void set_PulseMax(unsigned char coxaValue,unsigned char femurValue, |
salco | 0:e4151abdff23 | 195 | unsigned char tibiaValue,unsigned char tarsValue) { |
salco | 0:e4151abdff23 | 196 | m_Coxa.max = coxaValue; |
salco | 0:e4151abdff23 | 197 | m_Femur.max= femurValue; |
salco | 0:e4151abdff23 | 198 | m_Tibia.max= tibiaValue; |
salco | 0:e4151abdff23 | 199 | m_Tars.max = tarsValue; |
salco | 0:e4151abdff23 | 200 | } |
salco | 0:e4151abdff23 | 201 | void set_PulseMin(unsigned char coxaValue,unsigned char femurValue, |
salco | 0:e4151abdff23 | 202 | unsigned char tibiaValue,unsigned char tarsValue) { |
salco | 0:e4151abdff23 | 203 | m_Coxa.min = coxaValue; |
salco | 0:e4151abdff23 | 204 | m_Femur.min= femurValue; |
salco | 0:e4151abdff23 | 205 | m_Tibia.min= tibiaValue; |
salco | 0:e4151abdff23 | 206 | m_Tars.min = tarsValue; |
salco | 0:e4151abdff23 | 207 | } |
salco | 0:e4151abdff23 | 208 | void set_DefaultPulse(unsigned char coxaValue,unsigned char femurValue, |
salco | 0:e4151abdff23 | 209 | unsigned char tibiaValue,unsigned char tarsValue) { |
salco | 0:e4151abdff23 | 210 | m_Coxa.basePose = coxaValue; |
salco | 0:e4151abdff23 | 211 | m_Femur.basePose= femurValue; |
salco | 0:e4151abdff23 | 212 | m_Tibia.basePose= tibiaValue; |
salco | 0:e4151abdff23 | 213 | m_Tars.basePose = tarsValue; |
salco | 0:e4151abdff23 | 214 | } |
salco | 0:e4151abdff23 | 215 | ////////// |
salco | 0:e4151abdff23 | 216 | // Move // |
salco | 0:e4151abdff23 | 217 | ////////// |
salco | 0:e4151abdff23 | 218 | void move_Coxa(unsigned char value) { |
salco | 0:e4151abdff23 | 219 | if((value >= m_Coxa.min)&&(value <= m_Coxa.max )) |
salco | 0:e4151abdff23 | 220 | m_Coxa.curr = value; |
salco | 0:e4151abdff23 | 221 | } |
salco | 0:e4151abdff23 | 222 | void move_Femur(unsigned char value) { |
salco | 0:e4151abdff23 | 223 | if((value >= m_Femur.min)&&(value <= m_Femur.max )) |
salco | 0:e4151abdff23 | 224 | m_Femur.curr = value; |
salco | 0:e4151abdff23 | 225 | } |
salco | 0:e4151abdff23 | 226 | void move_Tibia(unsigned char value) { |
salco | 0:e4151abdff23 | 227 | if((value >= m_Tibia.min)&&(value <= m_Tibia.max )) |
salco | 0:e4151abdff23 | 228 | m_Tibia.curr = value; |
salco | 0:e4151abdff23 | 229 | } |
salco | 0:e4151abdff23 | 230 | void move_Tars(unsigned char value) { |
salco | 0:e4151abdff23 | 231 | if((value >= m_Tars.min)&&(value <= m_Tars.max )) |
salco | 0:e4151abdff23 | 232 | m_Tars.curr = value; |
salco | 0:e4151abdff23 | 233 | } |
salco | 0:e4151abdff23 | 234 | void move(unsigned char coxaValue,unsigned char femurValue, |
salco | 0:e4151abdff23 | 235 | unsigned char tibiaValue,unsigned char tarsValue) { |
salco | 0:e4151abdff23 | 236 | if((coxaValue >= m_Coxa.min)&&(coxaValue <= m_Coxa.max )) |
salco | 0:e4151abdff23 | 237 | m_Coxa.curr = coxaValue; |
salco | 0:e4151abdff23 | 238 | if((femurValue >= m_Femur.min)&&(femurValue <= m_Femur.max )) |
salco | 0:e4151abdff23 | 239 | m_Femur.curr = femurValue; |
salco | 0:e4151abdff23 | 240 | if((tibiaValue >= m_Tibia.min)&&(tibiaValue <= m_Tibia.max )) |
salco | 0:e4151abdff23 | 241 | m_Tibia.curr = tibiaValue; |
salco | 0:e4151abdff23 | 242 | if((tarsValue >= m_Tars.min)&&(tarsValue <= m_Tars.max )) |
salco | 0:e4151abdff23 | 243 | m_Tars.curr = tarsValue; |
salco | 0:e4151abdff23 | 244 | } |
salco | 0:e4151abdff23 | 245 | }; |
salco | 0:e4151abdff23 | 246 | #endif /* PATTE_H_ */ |