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.h@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.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
salco 0:e4151abdff23 8 #ifndef HOMEMADESEQUENCE_H_
salco 0:e4151abdff23 9 #define HOMEMADESEQUENCE_H_
salco 19:0ac80045ba4c 10
salco 19:0ac80045ba4c 11 #define DEBUG_HOMEMADE_GETFRAME 1
salco 19:0ac80045ba4c 12 #define DEBUG_HOMEMADE_NEXTFRAME 0
salco 19:0ac80045ba4c 13 #define DEBUG_HOMEMADE_PREVFRAME 0
salco 19:0ac80045ba4c 14
salco 19:0ac80045ba4c 15 #include "debug.h"
salco 21:5c17b7836733 16 #include "mbed.h"
salco 19:0ac80045ba4c 17
salco 0:e4151abdff23 18 class homemadeSequence
salco 0:e4151abdff23 19 {
salco 0:e4151abdff23 20 //////////////////////////////
salco 0:e4151abdff23 21 // 00 - Nothing //
salco 0:e4151abdff23 22 // 01 - Calibration(milieu) //
salco 0:e4151abdff23 23 // 02 - Debout //
salco 0:e4151abdff23 24 // 03 - Coucher //
salco 0:e4151abdff23 25 // 04 - Tourne Gauche //
salco 0:e4151abdff23 26 // 05 - Tourne Droite //
salco 0:e4151abdff23 27 // 06 - Marche //
salco 0:e4151abdff23 28 // 07 - Recule //
salco 0:e4151abdff23 29 // 08 - Repositioner //
salco 0:e4151abdff23 30 // 09 - Crabe Gauche //
salco 0:e4151abdff23 31 // 10 - Crabe Droite //
salco 20:c825e7b07af7 32 // 11 - recalibration legs //
salco 0:e4151abdff23 33 //////////////////////////////
salco 0:e4151abdff23 34 char m_SequenceChosen;
salco 0:e4151abdff23 35 char m_idFrame;
salco 21:5c17b7836733 36
salco 21:5c17b7836733 37 Timer delaisNextSeq;
salco 21:5c17b7836733 38 int delaisNeed;
salco 0:e4151abdff23 39 unsigned char m_posLeg[4];
salco 19:0ac80045ba4c 40
salco 0:e4151abdff23 41
salco 0:e4151abdff23 42 void seqUpDown(bool downUP,char idOperation,char idLeg);
salco 0:e4151abdff23 43 void seqTurn(bool leftRIGHT,char idOperation,char idLeg);
salco 0:e4151abdff23 44 void seqWalk(bool backFRONT,char idOperation,char idLeg);
salco 0:e4151abdff23 45 void seqRepositioner(char idOperation,char idLeg);
salco 0:e4151abdff23 46 void seqCrabe(bool leftRIGHT,char idOperation,char idLeg);
salco 0:e4151abdff23 47
salco 0:e4151abdff23 48 public:
salco 0:e4151abdff23 49 homemadeSequence();
salco 0:e4151abdff23 50 ~homemadeSequence();
salco 0:e4151abdff23 51 void set_Sequence(char idSequence) {
salco 0:e4151abdff23 52 m_SequenceChosen = idSequence;
salco 0:e4151abdff23 53 m_idFrame = 1;
salco 21:5c17b7836733 54 delaisNextSeq.reset();
salco 21:5c17b7836733 55 delaisNeed=0;
salco 0:e4151abdff23 56 }
salco 0:e4151abdff23 57 char get_Sequence(void) {
salco 0:e4151abdff23 58 return m_SequenceChosen;
salco 0:e4151abdff23 59 }
salco 0:e4151abdff23 60 unsigned char* get_frame(/*char idSequence,*/char idOperation,char idLeg);
salco 0:e4151abdff23 61 unsigned char* get_frame(/*char idSequence,char idOperation,*/char idLeg);
salco 20:c825e7b07af7 62 void set_frameID(char position) {m_idFrame = position;};
salco 0:e4151abdff23 63 bool next_frame(void); //return true if you are not at the end
salco 0:e4151abdff23 64 bool prev_frame(void); //return true if you are not at the begining
salco 0:e4151abdff23 65 };
salco 0:e4151abdff23 66 #endif /* HOMEMADESEQUENCE_H_ */