Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

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

Dependencies:   debug mbed

CtrlBridge

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

Version 1.2.0

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

source/Motrice/homemadeSequence.cpp@21:5c17b7836733, 2015-05-08 (annotated)

Committer:
salco
Date:
Fri May 08 01:33:51 2015 +0000
Revision:
21:5c17b7836733
Parent:
20:c825e7b07af7
Child:
22:a2c875629f2d
seq turn integrer.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 0:e4151abdff23 1 /*
salco 0:e4151abdff23 2 * homemadeSequence.cpp
salco 0:e4151abdff23 3 *
salco 0:e4151abdff23 4 * Created on: Mar 03, 2015
salco 0:e4151abdff23 5 * Author: salco
salco 0:e4151abdff23 6 */
salco 0:e4151abdff23 7 #include "homemadeSequence.h"
salco 19:0ac80045ba4c 8 unsigned char table_seqUp[9][2][3] = { { {80 , 210, 160}, {220, 90 , 114} },
salco 19:0ac80045ba4c 9 { {80 , 220, 170}, {220, 80 , 130} },
salco 19:0ac80045ba4c 10 { {90 , 220, 160}, {200, 80 , 140} },
salco 19:0ac80045ba4c 11 { {106, 220, 150}, {194, 80 , 150} },
salco 19:0ac80045ba4c 12 { {128, 220, 127}, {172, 80 , 173} },
salco 19:0ac80045ba4c 13 { {144, 205, 130}, {156, 95 , 170} },
salco 19:0ac80045ba4c 14 { {144, 210, 123}, {156, 89 , 177} },
salco 19:0ac80045ba4c 15 { {172, 185, 124}, {128, 115, 176} },
salco 19:0ac80045ba4c 16 { {194, 166, 118}, {106, 134, 182} } };
salco 19:0ac80045ba4c 17
salco 19:0ac80045ba4c 18 unsigned char table_seqDown[9][2][3] = { { {172, 185, 124}, {128, 115, 176} },
salco 19:0ac80045ba4c 19 { {172, 185, 124}, {128, 115, 176} },
salco 19:0ac80045ba4c 20 { {144, 210, 123}, {156, 89 , 177} },
salco 19:0ac80045ba4c 21 { {144, 205, 130}, {156, 95 , 170} },
salco 19:0ac80045ba4c 22 { {128, 220, 127}, {172, 80 , 173} },
salco 19:0ac80045ba4c 23 { {106, 220, 150}, {194, 80 , 150} },
salco 19:0ac80045ba4c 24 { {90 , 220, 160}, {200, 80 , 140} },
salco 19:0ac80045ba4c 25 { {80 , 220, 170}, {220, 80 , 130} },
salco 20:c825e7b07af7 26 { {80 , 100, 150}, {220, 200, 150} } };//fin de la seq il met ses patte sur sa tete**
salco 20:c825e7b07af7 27
salco 21:5c17b7836733 28 unsigned char table_seqCrabe[33][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{125, 184, 156}, /* 8*/{132, 215, 147}, /*12*/{255,255,255},
salco 21:5c17b7836733 29 /*16*/{203,101,128}, /*20*/{255,255,255}, /*24*/{176, 87, 163}, /*28*/{191, 103,133} },
salco 21:5c17b7836733 30 { /* 0*/{255,255,255}, /* 4*/{111, 185, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 31 /*16*/{209, 99,140}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{196, 105,142} },
salco 21:5c17b7836733 32 { /* 0*/{255,255,255}, /* 4*/{103, 192, 155}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 33 /*16*/{203,108,137}, /*20*/{255, 255, 255}, /*24*/{170, 88, 159}, /*28*/{191, 112,141} },
salco 21:5c17b7836733 34 { /* 0*/{255,255,255}, /* 4*/{ 98, 199, 158}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 35 /*16*/{196,114,137}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{184, 118,142} },
salco 21:5c17b7836733 36 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 37 /*16*/{182,115,144}, /*20*/{255, 255, 255}, /*24*/{169, 83, 164}, /*28*/{172, 118,142} },
salco 21:5c17b7836733 38 { /* 0*/{255,255,255}, /* 4*/{102, 201, 170}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 39 /*16*/{152,137,139}, /*20*/{255, 255, 255}, /*24*/{169, 78, 155}, /*28*/{146, 137,142} },
salco 21:5c17b7836733 40 { /* 0*/{255,255,255}, /* 4*/{102, 207, 179}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 41 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 76, 137}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 42 { /* 0*/{255,255,255}, /* 4*/{ 94, 213, 183}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 43 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 77, 131}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 44 { /* 0*/{255,255,255}, /* 4*/{106, 216, 175}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 45 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{208, 75, 116}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 46 { /* 0*/{255,255,255}, /* 4*/{129, 217, 165}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 47 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{225, 75, 109}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 48 { /* 0*/{255,255,255}, /* 4*/{129, 221, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 21:5c17b7836733 49 /*16*/{255,255,255}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 50 { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{255, 255, 255}, /*12*/{149, 158,159},
salco 21:5c17b7836733 51 /*16*/{255,255,255}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 52 { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{255, 255, 255}, /*12*/{121, 180,156},
salco 21:5c17b7836733 53 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{215, 93, 140}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 54 { /* 0*/{113,176,156}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{107, 182,156},
salco 21:5c17b7836733 55 /*16*/{255,255,255}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 56 { /* 0*/{105,183,155}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{100, 187,150},
salco 21:5c17b7836733 57 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{202, 106, 142}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 58 { /* 0*/{100,191,158}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 96, 193,155},
salco 21:5c17b7836733 59 /*16*/{255,255,255}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 60 { /* 0*/{103,193,170}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 197,170},
salco 21:5c17b7836733 61 /*16*/{255,255,255}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 62 { /* 0*/{103,200,177}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 201,177},
salco 21:5c17b7836733 63 /*16*/{255,255,255}, /*20*/{177, 80, 145}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 64 { /* 0*/{ 96,205,182}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 91, 208,176},
salco 21:5c17b7836733 65 /*16*/{255,255,255}, /*20*/{177, 87, 130}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 66 { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
salco 21:5c17b7836733 67 /*16*/{255,255,255}, /*20*/{192, 92, 123}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 68 { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
salco 21:5c17b7836733 69 /*16*/{255,255,255}, /*20*/{218, 79, 120}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 70 { /* 0*/{129,219,151}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{125, 213,157},
salco 21:5c17b7836733 71 /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{255, 255, 255}, /*28*/{154, 116,150} },
salco 21:5c17b7836733 72 { /* 0*/{140,209,142}, /* 4*/{255, 255, 255}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145},
salco 21:5c17b7836733 73 /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{255, 255, 255}, /*28*/{163, 93,168} },
salco 21:5c17b7836733 74 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{115, 182, 158}, /*12*/{255, 255,255},
salco 21:5c17b7836733 75 /*16*/{255,255,255}, /*20*/{212, 97, 142}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 76 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{101, 183, 156}, /*12*/{255, 255,255},
salco 21:5c17b7836733 77 /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{255, 255, 255}, /*28*/{160, 96,160} },
salco 21:5c17b7836733 78 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 94, 190, 154}, /*12*/{255, 255,255},
salco 21:5c17b7836733 79 /*16*/{255,255,255}, /*20*/{197, 113, 144}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
salco 21:5c17b7836733 80 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 89, 197, 158}, /*12*/{255, 255,255},
salco 21:5c17b7836733 81 /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{255, 255, 255}, /*28*/{161, 88,162} },
salco 21:5c17b7836733 82 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 200, 171}, /*12*/{255, 255,255},
salco 21:5c17b7836733 83 /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{255, 255, 255}, /*28*/{166, 86,156} },
salco 21:5c17b7836733 84 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 205, 175}, /*12*/{255, 255,255},
salco 21:5c17b7836733 85 /*16*/{177, 82,133}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 82,143} },
salco 21:5c17b7836733 86 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 82, 215, 177}, /*12*/{255, 255,255},
salco 21:5c17b7836733 87 /*16*/{177, 85,126}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 84,135} },
salco 21:5c17b7836733 88 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 96, 214, 176}, /*12*/{255, 255,255},
salco 21:5c17b7836733 89 /*16*/{191,101,113}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{190, 86,124} },
salco 21:5c17b7836733 90 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 213, 158}, /*12*/{255, 255,255},
salco 21:5c17b7836733 91 /*16*/{213, 83,124}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{202, 88,121} },
salco 21:5c17b7836733 92 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 217, 154}, /*12*/{255, 255,255},
salco 21:5c17b7836733 93 /*16*/{203, 95,110}, /*20*/{255, 255, 255}, /*24*/{165, 109, 152}, /*28*/{191, 101,120} }};
salco 21:5c17b7836733 94
salco 21:5c17b7836733 95 unsigned char table_seqTurn[][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
salco 21:5c17b7836733 96 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 97 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255},
salco 21:5c17b7836733 98 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 99 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 90,196,170}, /*12*/{255,255,255},
salco 21:5c17b7836733 100 /*16*/{255,255,255}, /*20*/{205,107,129}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 101 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{101,183,165}, /*12*/{255,255,255},
salco 21:5c17b7836733 102 /*16*/{255,255,255}, /*20*/{197,113,135}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 103 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
salco 21:5c17b7836733 104 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 105 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{118,219,139}, /*12*/{255,255,255},
salco 21:5c17b7836733 106 /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 107 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{117,217,137}, /*12*/{255,255,255},
salco 21:5c17b7836733 108 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 109 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},
salco 21:5c17b7836733 110 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 111 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 112 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}},
salco 21:5c17b7836733 113 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 114 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 95,124}},
salco 21:5c17b7836733 115 { /* 0*/{105,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 116 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{208, 99,127}},
salco 21:5c17b7836733 117 { /* 0*/{113,176,165}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 118 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{204,103,133}},
salco 21:5c17b7836733 119 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 120 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115}},
salco 21:5c17b7836733 121 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 122 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169}},
salco 21:5c17b7836733 123 { /* 0*/{123,217,215}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 124 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167}},
salco 21:5c17b7836733 125 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},
salco 21:5c17b7836733 126 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 127 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 21:5c17b7836733 128 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 129 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 130 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 131 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 94,196,168},
salco 21:5c17b7836733 132 /*16*/{203,103,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 133 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{107,182,165},
salco 21:5c17b7836733 134 /*16*/{196,114,128}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 135 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 21:5c17b7836733 136 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 137 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 92,198,168},
salco 21:5c17b7836733 138 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 139 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145},
salco 21:5c17b7836733 140 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 141 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142},
salco 21:5c17b7836733 142 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 143 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 144 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{204, 88,116}, /*28*/{255,255,255}},
salco 21:5c17b7836733 145 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 146 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{190, 76,160}, /*28*/{255,255,255}},
salco 21:5c17b7836733 147 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 148 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{192, 78,156}, /*28*/{255,255,255}},
salco 21:5c17b7836733 149 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 150 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{194, 78,161}, /*28*/{255,255,255}},
salco 21:5c17b7836733 151 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 152 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 153 { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 154 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 155 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 156 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
salco 21:5c17b7836733 157 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 21:5c17b7836733 158 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}} };
salco 19:0ac80045ba4c 159 /*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 160 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 161 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 162 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 163 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 164 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 165 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 166 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 167 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 168 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 169 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 170 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 171 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 172 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 173 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 174 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 175 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 176 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/
salco 0:e4151abdff23 177 homemadeSequence::homemadeSequence()
salco 0:e4151abdff23 178 {
salco 19:0ac80045ba4c 179 m_SequenceChosen=0;
salco 19:0ac80045ba4c 180 m_idFrame=0;
salco 0:e4151abdff23 181 }
salco 0:e4151abdff23 182 homemadeSequence::~homemadeSequence()
salco 0:e4151abdff23 183 {
salco 0:e4151abdff23 184
salco 0:e4151abdff23 185 }
salco 0:e4151abdff23 186 unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg)
salco 0:e4151abdff23 187 {
salco 19:0ac80045ba4c 188 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame");
salco 0:e4151abdff23 189 m_posLeg[0] = 0;
salco 0:e4151abdff23 190 m_posLeg[1] = 0;
salco 0:e4151abdff23 191 m_posLeg[2] = 0;
salco 0:e4151abdff23 192 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 193 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg);
salco 19:0ac80045ba4c 194 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen);
salco 19:0ac80045ba4c 195 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame);
salco 0:e4151abdff23 196 switch(m_SequenceChosen) {
salco 0:e4151abdff23 197 case 1:// 01 - Calibration(milieu) //
salco 0:e4151abdff23 198 if(m_idFrame == 1) {//if(idOperation == 1) {
salco 0:e4151abdff23 199 m_posLeg[0] = 150;
salco 0:e4151abdff23 200 m_posLeg[1] = 150;
salco 0:e4151abdff23 201 m_posLeg[2] = 150;
salco 0:e4151abdff23 202 m_posLeg[3] = 150;
salco 19:0ac80045ba4c 203 } else {
salco 19:0ac80045ba4c 204 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 205 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 206 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 207 m_posLeg[3] = 0;
salco 0:e4151abdff23 208 }
salco 0:e4151abdff23 209 break;
salco 0:e4151abdff23 210
salco 0:e4151abdff23 211 case 2:// 02 - Debout //
salco 0:e4151abdff23 212 seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg);
salco 0:e4151abdff23 213 break;
salco 0:e4151abdff23 214 case 3:// 03 - Coucher //
salco 0:e4151abdff23 215 seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg);
salco 0:e4151abdff23 216 break;
salco 0:e4151abdff23 217 case 4:// 04 - Tourne Gauche //
salco 0:e4151abdff23 218 break;
salco 0:e4151abdff23 219 case 5:// 05 - Tourne Droite //
salco 0:e4151abdff23 220 break;
salco 0:e4151abdff23 221 case 6:// 06 - Marche //
salco 0:e4151abdff23 222 break;
salco 0:e4151abdff23 223 case 7:// 07 - Recule //
salco 0:e4151abdff23 224 break;
salco 0:e4151abdff23 225 case 8:// 07 - Repositioner //
salco 0:e4151abdff23 226 break;
salco 0:e4151abdff23 227 case 9:// 09 - Crabe Gauche //
salco 21:5c17b7836733 228 seqCrabe(false,m_idFrame,idLeg);
salco 0:e4151abdff23 229 break;
salco 0:e4151abdff23 230 case 10:// 10 - Crabe Droite //
salco 21:5c17b7836733 231 seqCrabe(true,m_idFrame,idLeg);
salco 0:e4151abdff23 232 break;
salco 0:e4151abdff23 233 }
salco 19:0ac80045ba4c 234 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 235 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame");
salco 0:e4151abdff23 236 return m_posLeg;
salco 0:e4151abdff23 237 }
salco 0:e4151abdff23 238
salco 0:e4151abdff23 239 void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg)
salco 0:e4151abdff23 240 {
salco 0:e4151abdff23 241 if((idOperation<10)&&(idOperation>0)) {
salco 19:0ac80045ba4c 242 switch(idLeg) { //moving hips
salco 0:e4151abdff23 243 case 1:
salco 0:e4151abdff23 244 m_posLeg[0] = 140;
salco 0:e4151abdff23 245 break;
salco 0:e4151abdff23 246 case 2:
salco 0:e4151abdff23 247 m_posLeg[0] = 165;
salco 0:e4151abdff23 248 break;
salco 0:e4151abdff23 249 case 3:
salco 0:e4151abdff23 250 m_posLeg[0] = 160;
salco 0:e4151abdff23 251 break;
salco 0:e4151abdff23 252 case 6:
salco 0:e4151abdff23 253 m_posLeg[0] = 133;
salco 0:e4151abdff23 254 break;
salco 0:e4151abdff23 255 case 7:
salco 0:e4151abdff23 256 m_posLeg[0] = 170;
salco 0:e4151abdff23 257 break;
salco 0:e4151abdff23 258 default:
salco 0:e4151abdff23 259 m_posLeg[0] = 150;
salco 0:e4151abdff23 260 break;
salco 0:e4151abdff23 261 }
salco 19:0ac80045ba4c 262 if(downUP)
salco 19:0ac80045ba4c 263 {
salco 19:0ac80045ba4c 264 if(idLeg<5)
salco 19:0ac80045ba4c 265 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 266 else
salco 19:0ac80045ba4c 267 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1];
salco 19:0ac80045ba4c 268 }
salco 19:0ac80045ba4c 269 else
salco 19:0ac80045ba4c 270 {
salco 19:0ac80045ba4c 271 if(idLeg<5)
salco 19:0ac80045ba4c 272 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 273 else
salco 19:0ac80045ba4c 274 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1];
salco 19:0ac80045ba4c 275 }
salco 19:0ac80045ba4c 276 /*if(idOperation == 1) {
salco 0:e4151abdff23 277 if(idLeg<5) {
salco 0:e4151abdff23 278 m_posLeg[1] = 80;
salco 0:e4151abdff23 279 m_posLeg[2] = 210;
salco 0:e4151abdff23 280 m_posLeg[3] = 160;
salco 0:e4151abdff23 281 } else {
salco 0:e4151abdff23 282 m_posLeg[1] = 220;
salco 0:e4151abdff23 283 m_posLeg[2] = 90;
salco 0:e4151abdff23 284 m_posLeg[3] = 114;
salco 0:e4151abdff23 285 }
salco 0:e4151abdff23 286
salco 0:e4151abdff23 287 } else {
salco 0:e4151abdff23 288 if(!downUP) {
salco 0:e4151abdff23 289 if(idOperation == 9) {
salco 0:e4151abdff23 290 if(idLeg<5) {
salco 0:e4151abdff23 291 m_posLeg[1] = 80;
salco 0:e4151abdff23 292 m_posLeg[2] = 100;
salco 0:e4151abdff23 293 m_posLeg[3] = 150;
salco 0:e4151abdff23 294 } else {
salco 0:e4151abdff23 295 m_posLeg[1] = 220;
salco 0:e4151abdff23 296 m_posLeg[2] = 200;
salco 0:e4151abdff23 297 m_posLeg[3] = 150;
salco 0:e4151abdff23 298 }
salco 0:e4151abdff23 299 }
salco 0:e4151abdff23 300 idOperation = 10 - idOperation;
salco 0:e4151abdff23 301 }
salco 0:e4151abdff23 302
salco 0:e4151abdff23 303 switch(idOperation) {
salco 19:0ac80045ba4c 304 case 1:
salco 0:e4151abdff23 305
salco 19:0ac80045ba4c 306 break;
salco 0:e4151abdff23 307 case 2:
salco 0:e4151abdff23 308 if(idLeg<5) {
salco 0:e4151abdff23 309 m_posLeg[1] = 80;
salco 0:e4151abdff23 310 m_posLeg[2] = 220;
salco 0:e4151abdff23 311 m_posLeg[3] = 170;
salco 0:e4151abdff23 312 } else {
salco 0:e4151abdff23 313 m_posLeg[1] = 220;
salco 0:e4151abdff23 314 m_posLeg[2] = 80;
salco 0:e4151abdff23 315 m_posLeg[3] = 130;
salco 0:e4151abdff23 316 }
salco 0:e4151abdff23 317 break;
salco 0:e4151abdff23 318 case 3:
salco 0:e4151abdff23 319 if(idLeg<5) {
salco 0:e4151abdff23 320 m_posLeg[1] = 90;
salco 0:e4151abdff23 321 m_posLeg[2] = 220;
salco 0:e4151abdff23 322 m_posLeg[3] = 160;
salco 0:e4151abdff23 323 } else {
salco 0:e4151abdff23 324 m_posLeg[1] = 200;
salco 0:e4151abdff23 325 m_posLeg[2] = 200;
salco 0:e4151abdff23 326 m_posLeg[3] = 140;
salco 0:e4151abdff23 327 }
salco 0:e4151abdff23 328 break;
salco 0:e4151abdff23 329 case 4:
salco 0:e4151abdff23 330 if(idLeg<5) {
salco 0:e4151abdff23 331 m_posLeg[1] = 106;
salco 0:e4151abdff23 332 m_posLeg[2] = 220;
salco 0:e4151abdff23 333 m_posLeg[3] = 150;
salco 0:e4151abdff23 334 } else {
salco 0:e4151abdff23 335 m_posLeg[1] = 195;
salco 0:e4151abdff23 336 m_posLeg[2] = 80;
salco 0:e4151abdff23 337 m_posLeg[3] = 150;
salco 0:e4151abdff23 338 }
salco 0:e4151abdff23 339 break;
salco 0:e4151abdff23 340 case 5:
salco 0:e4151abdff23 341 if(idLeg<5) {
salco 0:e4151abdff23 342 m_posLeg[1] = 128;
salco 0:e4151abdff23 343 m_posLeg[2] = 220;
salco 0:e4151abdff23 344 m_posLeg[3] = 128;
salco 0:e4151abdff23 345 } else {
salco 0:e4151abdff23 346 m_posLeg[1] = 172;
salco 0:e4151abdff23 347 m_posLeg[2] = 80;
salco 0:e4151abdff23 348 m_posLeg[3] = 173;
salco 0:e4151abdff23 349 }
salco 0:e4151abdff23 350 break;
salco 0:e4151abdff23 351 case 6:
salco 0:e4151abdff23 352 if(idLeg<5) {
salco 0:e4151abdff23 353 m_posLeg[1] = 144;
salco 0:e4151abdff23 354 m_posLeg[2] = 205;
salco 0:e4151abdff23 355 m_posLeg[3] = 130;
salco 0:e4151abdff23 356 } else {
salco 0:e4151abdff23 357 m_posLeg[1] = 156;
salco 0:e4151abdff23 358 m_posLeg[2] = 95;
salco 0:e4151abdff23 359 m_posLeg[3] = 170;
salco 0:e4151abdff23 360 }
salco 0:e4151abdff23 361 break;
salco 0:e4151abdff23 362 case 7:
salco 0:e4151abdff23 363 if(idLeg<5) {
salco 0:e4151abdff23 364 m_posLeg[1] = 144;
salco 0:e4151abdff23 365 m_posLeg[2] = 211;
salco 0:e4151abdff23 366 m_posLeg[3] = 123;
salco 0:e4151abdff23 367 } else {
salco 0:e4151abdff23 368 m_posLeg[1] = 156;
salco 0:e4151abdff23 369 m_posLeg[2] = 89;
salco 0:e4151abdff23 370 m_posLeg[3] = 177;
salco 0:e4151abdff23 371 }
salco 0:e4151abdff23 372 break;
salco 0:e4151abdff23 373 case 8:
salco 0:e4151abdff23 374 if(idLeg<5) {
salco 0:e4151abdff23 375 m_posLeg[1] = 172;
salco 0:e4151abdff23 376 m_posLeg[2] = 185;
salco 0:e4151abdff23 377 m_posLeg[3] = 124;
salco 0:e4151abdff23 378 } else {
salco 0:e4151abdff23 379 m_posLeg[1] = 128;
salco 0:e4151abdff23 380 m_posLeg[2] = 115;
salco 0:e4151abdff23 381 m_posLeg[3] = 176;
salco 0:e4151abdff23 382 }
salco 0:e4151abdff23 383 break;
salco 0:e4151abdff23 384 case 9:
salco 0:e4151abdff23 385 if(idLeg<5) {
salco 0:e4151abdff23 386 m_posLeg[1] = 194;
salco 0:e4151abdff23 387 m_posLeg[2] = 166;
salco 0:e4151abdff23 388 m_posLeg[3] = 118;
salco 0:e4151abdff23 389 } else {
salco 0:e4151abdff23 390 m_posLeg[1] = 106;
salco 0:e4151abdff23 391 m_posLeg[2] = 134;
salco 0:e4151abdff23 392 m_posLeg[3] = 182;
salco 0:e4151abdff23 393 }
salco 0:e4151abdff23 394 break;
salco 19:0ac80045ba4c 395 default:
salco 19:0ac80045ba4c 396 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 397 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 398 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 399 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 400 break;
salco 0:e4151abdff23 401 }
salco 19:0ac80045ba4c 402 }*/
salco 0:e4151abdff23 403 }
salco 0:e4151abdff23 404 }
salco 0:e4151abdff23 405 void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
salco 0:e4151abdff23 406 {}
salco 0:e4151abdff23 407 void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
salco 0:e4151abdff23 408 {}
salco 0:e4151abdff23 409 void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
salco 0:e4151abdff23 410 {}
salco 0:e4151abdff23 411 void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg)
salco 21:5c17b7836733 412 {
salco 21:5c17b7836733 413 if(idOperation<33){
salco 21:5c17b7836733 414 if(leftRIGHT)
salco 21:5c17b7836733 415 idOperation=33-idOperation;
salco 21:5c17b7836733 416
salco 21:5c17b7836733 417 switch(idLeg) { //moving hips
salco 21:5c17b7836733 418 case 1:
salco 21:5c17b7836733 419 m_posLeg[0] = 140;
salco 21:5c17b7836733 420 break;
salco 21:5c17b7836733 421 case 2:
salco 21:5c17b7836733 422 m_posLeg[0] = 165;
salco 21:5c17b7836733 423 break;
salco 21:5c17b7836733 424 case 3:
salco 21:5c17b7836733 425 m_posLeg[0] = 160;
salco 21:5c17b7836733 426 break;
salco 21:5c17b7836733 427 case 6:
salco 21:5c17b7836733 428 m_posLeg[0] = 133;
salco 21:5c17b7836733 429 break;
salco 21:5c17b7836733 430 case 7:
salco 21:5c17b7836733 431 m_posLeg[0] = 170;
salco 21:5c17b7836733 432 break;
salco 21:5c17b7836733 433 default:
salco 21:5c17b7836733 434 m_posLeg[0] = 150;
salco 21:5c17b7836733 435 break;
salco 21:5c17b7836733 436 }
salco 21:5c17b7836733 437
salco 21:5c17b7836733 438 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqCrabe[idOperation-1][idLeg-1][i-1];
salco 21:5c17b7836733 439
salco 21:5c17b7836733 440
salco 21:5c17b7836733 441 //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 21:5c17b7836733 442 }
salco 21:5c17b7836733 443 else
salco 21:5c17b7836733 444 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 21:5c17b7836733 445
salco 21:5c17b7836733 446
salco 21:5c17b7836733 447 }
salco 0:e4151abdff23 448 bool homemadeSequence::next_frame(void)
salco 0:e4151abdff23 449 {
salco 19:0ac80045ba4c 450 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame");
salco 19:0ac80045ba4c 451 bool temp=false;
salco 19:0ac80045ba4c 452 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 453
salco 19:0ac80045ba4c 454 //if(m_idFrame > 1){
salco 0:e4151abdff23 455 m_idFrame++;
salco 19:0ac80045ba4c 456 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 457
salco 19:0ac80045ba4c 458 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{
salco 19:0ac80045ba4c 459 temp=true;
salco 19:0ac80045ba4c 460 //m_idFrame++;//get_frame(m_idFrame);
salco 19:0ac80045ba4c 461 //}
salco 19:0ac80045ba4c 462 else
salco 19:0ac80045ba4c 463 m_idFrame--;
salco 19:0ac80045ba4c 464
salco 19:0ac80045ba4c 465 //}
salco 19:0ac80045ba4c 466 //}
salco 19:0ac80045ba4c 467 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 468 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame");
salco 0:e4151abdff23 469 return temp;
salco 0:e4151abdff23 470 }
salco 19:0ac80045ba4c 471 bool homemadeSequence::prev_frame(void) //true == prev is ok
salco 0:e4151abdff23 472 {
salco 19:0ac80045ba4c 473 //false == impossible
salco 19:0ac80045ba4c 474 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame");
salco 19:0ac80045ba4c 475 bool temp=false;
salco 19:0ac80045ba4c 476 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 477
salco 19:0ac80045ba4c 478 if(m_idFrame > 1) {
salco 19:0ac80045ba4c 479 m_idFrame--;
salco 19:0ac80045ba4c 480 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 481
salco 19:0ac80045ba4c 482 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{
salco 19:0ac80045ba4c 483 temp=true;
salco 19:0ac80045ba4c 484 //m_idFrame++;//get_frame(m_idFrame);
salco 19:0ac80045ba4c 485 //}
salco 19:0ac80045ba4c 486 else
salco 19:0ac80045ba4c 487 m_idFrame++;
salco 19:0ac80045ba4c 488
salco 19:0ac80045ba4c 489 //}
salco 19:0ac80045ba4c 490 }
salco 19:0ac80045ba4c 491 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 492 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame");
salco 0:e4151abdff23 493 return temp;
salco 0:e4151abdff23 494 }