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@22:a2c875629f2d, 2015-05-08 (annotated)

Committer:
salco
Date:
Fri May 08 19:57:25 2015 +0000
Revision:
22:a2c875629f2d
Parent:
21:5c17b7836733
Child:
27:ea60d12dccdf
turn + recalibrement is donne

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 22:a2c875629f2d 14 #define DELAITESTE 1000
salco 19:0ac80045ba4c 15
salco 19:0ac80045ba4c 16 #include "debug.h"
salco 21:5c17b7836733 17 #include "mbed.h"
salco 19:0ac80045ba4c 18
salco 0:e4151abdff23 19 class homemadeSequence
salco 0:e4151abdff23 20 {
salco 0:e4151abdff23 21 //////////////////////////////
salco 0:e4151abdff23 22 // 00 - Nothing //
salco 22:a2c875629f2d 23 //X01 - Calibration(milieu) //
salco 22:a2c875629f2d 24 //X02 - Debout //
salco 22:a2c875629f2d 25 //X03 - Coucher //
salco 22:a2c875629f2d 26 //X04 - Tourne Gauche //
salco 22:a2c875629f2d 27 //X05 - Tourne Droite //
salco 0:e4151abdff23 28 // 06 - Marche //
salco 0:e4151abdff23 29 // 07 - Recule //
salco 0:e4151abdff23 30 // 08 - Repositioner //
salco 0:e4151abdff23 31 // 09 - Crabe Gauche //
salco 0:e4151abdff23 32 // 10 - Crabe Droite //
salco 20:c825e7b07af7 33 // 11 - recalibration legs //
salco 0:e4151abdff23 34 //////////////////////////////
salco 0:e4151abdff23 35 char m_SequenceChosen;
salco 0:e4151abdff23 36 char m_idFrame;
salco 21:5c17b7836733 37
salco 21:5c17b7836733 38 Timer delaisNextSeq;
salco 21:5c17b7836733 39 int delaisNeed;
salco 0:e4151abdff23 40 unsigned char m_posLeg[4];
salco 22:a2c875629f2d 41 unsigned char timeSequence[8];
salco 22:a2c875629f2d 42 char m_idLegUse; // pour seqRepositioner
salco 0:e4151abdff23 43
salco 0:e4151abdff23 44 void seqUpDown(bool downUP,char idOperation,char idLeg);
salco 0:e4151abdff23 45 void seqTurn(bool leftRIGHT,char idOperation,char idLeg);
salco 0:e4151abdff23 46 void seqWalk(bool backFRONT,char idOperation,char idLeg);
salco 0:e4151abdff23 47 void seqRepositioner(char idOperation,char idLeg);
salco 0:e4151abdff23 48 void seqCrabe(bool leftRIGHT,char idOperation,char idLeg);
salco 0:e4151abdff23 49
salco 0:e4151abdff23 50 public:
salco 0:e4151abdff23 51 homemadeSequence();
salco 0:e4151abdff23 52 ~homemadeSequence();
salco 0:e4151abdff23 53 void set_Sequence(char idSequence) {
salco 0:e4151abdff23 54 m_SequenceChosen = idSequence;
salco 0:e4151abdff23 55 m_idFrame = 1;
salco 21:5c17b7836733 56 delaisNextSeq.reset();
salco 22:a2c875629f2d 57 delaisNeed=-1;
salco 0:e4151abdff23 58 }
salco 0:e4151abdff23 59 char get_Sequence(void) {
salco 0:e4151abdff23 60 return m_SequenceChosen;
salco 0:e4151abdff23 61 }
salco 22:a2c875629f2d 62 void set_leg(char idLeg){m_idLegUse = idLeg;}
salco 22:a2c875629f2d 63 unsigned char get_Time(char idLeg){
salco 22:a2c875629f2d 64 unsigned char result = timeSequence[idLeg-1];
salco 22:a2c875629f2d 65 return (result==255)? DELAITESTE:result;
salco 22:a2c875629f2d 66 }
salco 0:e4151abdff23 67 unsigned char* get_frame(/*char idSequence,*/char idOperation,char idLeg);
salco 0:e4151abdff23 68 unsigned char* get_frame(/*char idSequence,char idOperation,*/char idLeg);
salco 20:c825e7b07af7 69 void set_frameID(char position) {m_idFrame = position;};
salco 0:e4151abdff23 70 bool next_frame(void); //return true if you are not at the end
salco 0:e4151abdff23 71 bool prev_frame(void); //return true if you are not at the begining
salco 0:e4151abdff23 72 };
salco 0:e4151abdff23 73 #endif /* HOMEMADESEQUENCE_H_ */