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@20:c825e7b07af7, 2015-04-28 (annotated)

Committer:
salco
Date:
Tue Apr 28 01:57:07 2015 +0000
Revision:
20:c825e7b07af7
Parent:
19:0ac80045ba4c
Child:
21:5c17b7836733
walkingcrab is add but we need to compleet the fonction;

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