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@27:ea60d12dccdf, 2015-05-14 (annotated)

Committer:
salco
Date:
Thu May 14 21:40:23 2015 +0000
Revision:
27:ea60d12dccdf
Parent:
26:15cb45d56c28
Child:
36:474d4795aafa
Toute fonctione reste plus qua integrer les donner au projet.

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 27:ea60d12dccdf 8
salco 27:ea60d12dccdf 9
salco 27:ea60d12dccdf 10 unsigned char table_seqDefaultPos[8][4] = {
salco 27:ea60d12dccdf 11 {137,123,217,135},
salco 27:ea60d12dccdf 12 {165,120,222,135},
salco 27:ea60d12dccdf 13 {160,117,217,137},
salco 27:ea60d12dccdf 14 {150,111,213,142},
salco 27:ea60d12dccdf 15 {153,181, 83,166},
salco 27:ea60d12dccdf 16 {133,187, 78,161},
salco 27:ea60d12dccdf 17 {170,192, 78,156},
salco 27:ea60d12dccdf 18 {144,181, 81,165}};
salco 27:ea60d12dccdf 19 #define SIZE_SEQUP 9
salco 27:ea60d12dccdf 20 unsigned char table_seqUp[SIZE_SEQUP][2][3] = { { {80 , 210, 160}, {220, 90 , 114} },
salco 22:a2c875629f2d 21 { {80 , 220, 170}, {220, 80 , 130} },
salco 22:a2c875629f2d 22 { {90 , 220, 160}, {200, 80 , 140} },
salco 22:a2c875629f2d 23 { {106, 220, 150}, {194, 80 , 150} },
salco 22:a2c875629f2d 24 { {128, 220, 127}, {172, 80 , 173} },
salco 22:a2c875629f2d 25 { {144, 205, 130}, {156, 95 , 170} },
salco 22:a2c875629f2d 26 { {144, 210, 123}, {156, 89 , 177} },
salco 22:a2c875629f2d 27 { {172, 185, 124}, {128, 115, 176} },
salco 22:a2c875629f2d 28 { {194, 166, 118}, {106, 134, 182} }
salco 22:a2c875629f2d 29 };
salco 22:a2c875629f2d 30
salco 27:ea60d12dccdf 31 unsigned char table_seqDown[SIZE_SEQUP][2][3] = { { {172, 185, 124}, {128, 115, 176} },
salco 22:a2c875629f2d 32 { {172, 185, 124}, {128, 115, 176} },
salco 22:a2c875629f2d 33 { {144, 210, 123}, {156, 89 , 177} },
salco 22:a2c875629f2d 34 { {144, 205, 130}, {156, 95 , 170} },
salco 22:a2c875629f2d 35 { {128, 220, 127}, {172, 80 , 173} },
salco 22:a2c875629f2d 36 { {106, 220, 150}, {194, 80 , 150} },
salco 22:a2c875629f2d 37 { {90 , 220, 160}, {200, 80 , 140} },
salco 22:a2c875629f2d 38 { {80 , 220, 170}, {220, 80 , 130} },
salco 22:a2c875629f2d 39 { {80 , 100, 150}, {220, 200, 150} }
salco 22:a2c875629f2d 40 };//fin de la seq il met ses patte sur sa tete**
salco 22:a2c875629f2d 41
salco 27:ea60d12dccdf 42 #define SIZE_SEQCRABE 33
salco 27:ea60d12dccdf 43 unsigned char table_seqCrabe[SIZE_SEQCRABE][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{125, 184, 156}, /* 8*/{132, 215, 147}, /*12*/{255,255,255},
salco 22:a2c875629f2d 44 /*16*/{203,101,128}, /*20*/{255,255,255}, /*24*/{176, 87, 163}, /*28*/{191, 103,133}
salco 22:a2c875629f2d 45 },
salco 22:a2c875629f2d 46 { /* 0*/{255,255,255}, /* 4*/{111, 185, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 47 /*16*/{209, 99,140}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{196, 105,142}
salco 22:a2c875629f2d 48 },
salco 22:a2c875629f2d 49 { /* 0*/{255,255,255}, /* 4*/{103, 192, 155}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 50 /*16*/{203,108,137}, /*20*/{255, 255, 255}, /*24*/{170, 88, 159}, /*28*/{191, 112,141}
salco 22:a2c875629f2d 51 },
salco 22:a2c875629f2d 52 { /* 0*/{255,255,255}, /* 4*/{ 98, 199, 158}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 53 /*16*/{196,114,137}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{184, 118,142}
salco 22:a2c875629f2d 54 },
salco 22:a2c875629f2d 55 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 56 /*16*/{182,115,144}, /*20*/{255, 255, 255}, /*24*/{169, 83, 164}, /*28*/{172, 118,142}
salco 22:a2c875629f2d 57 },
salco 22:a2c875629f2d 58 { /* 0*/{255,255,255}, /* 4*/{102, 201, 170}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 59 /*16*/{152,137,139}, /*20*/{255, 255, 255}, /*24*/{169, 78, 155}, /*28*/{146, 137,142}
salco 22:a2c875629f2d 60 },
salco 22:a2c875629f2d 61 { /* 0*/{255,255,255}, /* 4*/{102, 207, 179}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 62 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 76, 137}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 63 },
salco 22:a2c875629f2d 64 { /* 0*/{255,255,255}, /* 4*/{ 94, 213, 183}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 65 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 77, 131}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 66 },
salco 22:a2c875629f2d 67 { /* 0*/{255,255,255}, /* 4*/{106, 216, 175}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 68 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{208, 75, 116}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 69 },
salco 22:a2c875629f2d 70 { /* 0*/{255,255,255}, /* 4*/{129, 217, 165}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 71 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{225, 75, 109}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 72 },
salco 22:a2c875629f2d 73 { /* 0*/{255,255,255}, /* 4*/{129, 221, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 74 /*16*/{255,255,255}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 75 },
salco 22:a2c875629f2d 76 { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{255, 255, 255}, /*12*/{149, 158,159},
salco 22:a2c875629f2d 77 /*16*/{255,255,255}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 78 },
salco 22:a2c875629f2d 79 { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{255, 255, 255}, /*12*/{121, 180,156},
salco 22:a2c875629f2d 80 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{215, 93, 140}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 81 },
salco 22:a2c875629f2d 82 { /* 0*/{113,176,156}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{107, 182,156},
salco 22:a2c875629f2d 83 /*16*/{255,255,255}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 84 },
salco 22:a2c875629f2d 85 { /* 0*/{105,183,155}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{100, 187,150},
salco 22:a2c875629f2d 86 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{202, 106, 142}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 87 },
salco 22:a2c875629f2d 88 { /* 0*/{100,191,158}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 96, 193,155},
salco 22:a2c875629f2d 89 /*16*/{255,255,255}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 90 },
salco 22:a2c875629f2d 91 { /* 0*/{103,193,170}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 197,170},
salco 22:a2c875629f2d 92 /*16*/{255,255,255}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 93 },
salco 22:a2c875629f2d 94 { /* 0*/{103,200,177}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 201,177},
salco 22:a2c875629f2d 95 /*16*/{255,255,255}, /*20*/{177, 80, 145}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 96 },
salco 22:a2c875629f2d 97 { /* 0*/{ 96,205,182}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 91, 208,176},
salco 22:a2c875629f2d 98 /*16*/{255,255,255}, /*20*/{177, 87, 130}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 99 },
salco 22:a2c875629f2d 100 { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
salco 22:a2c875629f2d 101 /*16*/{255,255,255}, /*20*/{192, 92, 123}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 102 },
salco 22:a2c875629f2d 103 { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
salco 22:a2c875629f2d 104 /*16*/{255,255,255}, /*20*/{218, 79, 120}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 105 },
salco 22:a2c875629f2d 106 { /* 0*/{129,219,151}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{125, 213,157},
salco 22:a2c875629f2d 107 /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{255, 255, 255}, /*28*/{154, 116,150}
salco 22:a2c875629f2d 108 },
salco 22:a2c875629f2d 109 { /* 0*/{140,209,142}, /* 4*/{255, 255, 255}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145},
salco 22:a2c875629f2d 110 /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{255, 255, 255}, /*28*/{163, 93,168}
salco 22:a2c875629f2d 111 },
salco 22:a2c875629f2d 112 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{115, 182, 158}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 113 /*16*/{255,255,255}, /*20*/{212, 97, 142}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 114 },
salco 22:a2c875629f2d 115 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{101, 183, 156}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 116 /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{255, 255, 255}, /*28*/{160, 96,160}
salco 22:a2c875629f2d 117 },
salco 22:a2c875629f2d 118 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 94, 190, 154}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 119 /*16*/{255,255,255}, /*20*/{197, 113, 144}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 120 },
salco 22:a2c875629f2d 121 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 89, 197, 158}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 122 /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{255, 255, 255}, /*28*/{161, 88,162}
salco 22:a2c875629f2d 123 },
salco 22:a2c875629f2d 124 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 200, 171}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 125 /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{255, 255, 255}, /*28*/{166, 86,156}
salco 22:a2c875629f2d 126 },
salco 22:a2c875629f2d 127 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 205, 175}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 128 /*16*/{177, 82,133}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 82,143}
salco 22:a2c875629f2d 129 },
salco 22:a2c875629f2d 130 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 82, 215, 177}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 131 /*16*/{177, 85,126}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 84,135}
salco 22:a2c875629f2d 132 },
salco 22:a2c875629f2d 133 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 96, 214, 176}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 134 /*16*/{191,101,113}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{190, 86,124}
salco 22:a2c875629f2d 135 },
salco 22:a2c875629f2d 136 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 213, 158}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 137 /*16*/{213, 83,124}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{202, 88,121}
salco 22:a2c875629f2d 138 },
salco 22:a2c875629f2d 139 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 217, 154}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 140 /*16*/{203, 95,110}, /*20*/{255, 255, 255}, /*24*/{165, 109, 152}, /*28*/{191, 101,120}
salco 22:a2c875629f2d 141 }
salco 22:a2c875629f2d 142 };
salco 27:ea60d12dccdf 143 #define SIZE_SEQTURN 31
salco 27:ea60d12dccdf 144 unsigned char table_seqTurn_PAUSE_TIME[SIZE_SEQTURN][2] = {
salco 27:ea60d12dccdf 145 { 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 20, 20},{ 30, 30},{ 30, 30},{ 30, 30},
salco 27:ea60d12dccdf 146 { 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 25, 20},{ 21, 30},{ 30, 30},{ 30, 30},
salco 27:ea60d12dccdf 147 { 20, 20},{ 20, 20},{ 20, 30},{ 20, 20},{ 20, 20},{ 30, 30},{ 31, 30},
salco 27:ea60d12dccdf 148 { 20, 20},{ 30, 30},{ 20, 30},{ 30, 30},{ 20, 20},{ 20, 30},{ 30, 30},{ 0, 30}
salco 22:a2c875629f2d 149 };
salco 21:5c17b7836733 150
salco 27:ea60d12dccdf 151 unsigned char table_seqTurn[SIZE_SEQTURN][8][3] = {
salco 27:ea60d12dccdf 152 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
salco 22:a2c875629f2d 153 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 154 },
salco 22:a2c875629f2d 155 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255},
salco 22:a2c875629f2d 156 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 157 },
salco 22:a2c875629f2d 158 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 90,196,170}, /*12*/{255,255,255},
salco 22:a2c875629f2d 159 /*16*/{255,255,255}, /*20*/{205,107,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 160 },
salco 22:a2c875629f2d 161 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{101,183,165}, /*12*/{255,255,255},
salco 22:a2c875629f2d 162 /*16*/{255,255,255}, /*20*/{197,113,135}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 163 },
salco 22:a2c875629f2d 164 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
salco 22:a2c875629f2d 165 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 166 },
salco 22:a2c875629f2d 167 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{118,219,139}, /*12*/{255,255,255},
salco 22:a2c875629f2d 168 /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 169 },
salco 22:a2c875629f2d 170 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{117,217,137}, /*12*/{255,255,255},
salco 22:a2c875629f2d 171 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 172 },
salco 22:a2c875629f2d 173 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},
salco 22:a2c875629f2d 174 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 175 },
salco 22:a2c875629f2d 176 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 177 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}
salco 22:a2c875629f2d 178 },
salco 22:a2c875629f2d 179 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 180 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 95,124}
salco 22:a2c875629f2d 181 },
salco 22:a2c875629f2d 182 { /* 0*/{105,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 183 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{208, 99,127}
salco 22:a2c875629f2d 184 },
salco 22:a2c875629f2d 185 { /* 0*/{113,176,165}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 186 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{204,103,133}
salco 22:a2c875629f2d 187 },
salco 22:a2c875629f2d 188 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 189 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115}
salco 22:a2c875629f2d 190 },
salco 27:ea60d12dccdf 191 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 192 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169}
salco 22:a2c875629f2d 193 },
salco 27:ea60d12dccdf 194 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 195 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167}
salco 22:a2c875629f2d 196 },
salco 22:a2c875629f2d 197 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},
salco 22:a2c875629f2d 198 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 199 },
salco 22:a2c875629f2d 200 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 22:a2c875629f2d 201 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 202 },
salco 22:a2c875629f2d 203 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 94,196,168},
salco 22:a2c875629f2d 204 /*16*/{203,103,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 205 },
salco 22:a2c875629f2d 206 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{107,182,165},
salco 22:a2c875629f2d 207 /*16*/{196,114,128}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 208 },
salco 22:a2c875629f2d 209 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 22:a2c875629f2d 210 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 211 },
salco 22:a2c875629f2d 212 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 92,198,168},
salco 22:a2c875629f2d 213 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 214 },
salco 22:a2c875629f2d 215 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145},
salco 22:a2c875629f2d 216 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 217 },
salco 22:a2c875629f2d 218 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142},
salco 22:a2c875629f2d 219 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 220 },
salco 22:a2c875629f2d 221 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 222 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{204, 88,116}, /*28*/{255,255,255}
salco 22:a2c875629f2d 223 },
salco 22:a2c875629f2d 224 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 225 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{190, 76,160}, /*28*/{255,255,255}
salco 22:a2c875629f2d 226 },
salco 22:a2c875629f2d 227 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 228 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{192, 78,156}, /*28*/{255,255,255}
salco 22:a2c875629f2d 229 },
salco 22:a2c875629f2d 230 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 231 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{194, 78,161}, /*28*/{255,255,255}
salco 22:a2c875629f2d 232 },
salco 22:a2c875629f2d 233 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 234 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 235 },
salco 22:a2c875629f2d 236 { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 237 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 238 },
salco 22:a2c875629f2d 239 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 240 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 241 },
salco 22:a2c875629f2d 242 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 243 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 244 }
salco 22:a2c875629f2d 245 };
salco 27:ea60d12dccdf 246
salco 27:ea60d12dccdf 247 #define SIZE_SEQREPOSITIONNE 6
salco 27:ea60d12dccdf 248 unsigned char table_seqRepositionne_PAUSE_TIME[SIZE_SEQREPOSITIONNE][2] = {{ 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}};
salco 27:ea60d12dccdf 249 unsigned char table_seqRepositionne[SIZE_SEQREPOSITIONNE][8][3] = {
salco 22:a2c875629f2d 250 { /* 0*/{103,206,176}, /* 4*/{102,213,176}, /* 8*/{ 92,211,171}, /*12*/{ 99,211,176},
salco 22:a2c875629f2d 251 /*16*/{210, 86,121}, /*20*/{213, 85,118}, /*24*/{217, 83,118}, /*28*/{200, 86,124}
salco 22:a2c875629f2d 252 },
salco 22:a2c875629f2d 253 { /* 0*/{100,188,184}, /* 4*/{ 98,193,185}, /* 8*/{ 89,193,186}, /*12*/{ 96,193,185},
salco 22:a2c875629f2d 254 /*16*/{209, 99,115}, /*20*/{212, 99,119}, /*24*/{215, 95,119}, /*28*/{205, 95,124}
salco 22:a2c875629f2d 255 },
salco 22:a2c875629f2d 256 { /* 0*/{ 93,182,166}, /* 4*/{ 86,196,161}, /* 8*/{ 75,196,170}, /*12*/{ 88,192,168},
salco 22:a2c875629f2d 257 /*16*/{206,115,125}, /*20*/{211,114,129}, /*24*/{213,110,129}, /*28*/{206,108,127}
salco 22:a2c875629f2d 258 },
salco 22:a2c875629f2d 259 { /* 0*/{ 93,187,203}, /* 4*/{ 88,202,195}, /* 8*/{ 88,207,190}, /*12*/{ 92,198,199},
salco 22:a2c875629f2d 260 /*16*/{204,110,107}, /*20*/{207,110,100}, /*24*/{204, 88,116}, /*28*/{203,103,115}
salco 22:a2c875629f2d 261 },
salco 22:a2c875629f2d 262 { /* 0*/{123,220,139}, /* 4*/{125,225,133}, /* 8*/{118,219,139}, /*12*/{118,206,145},
salco 22:a2c875629f2d 263 /*16*/{179, 82,167}, /*20*/{189, 76,160}, /*24*/{190, 76,160}, /*28*/{178, 78,169}
salco 22:a2c875629f2d 264 },
salco 22:a2c875629f2d 265 { /* 0*/{123,217,135}, /* 4*/{120,222,135}, /* 8*/{113,217,137}, /*12*/{111,213,142},
salco 22:a2c875629f2d 266 /*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167}
salco 22:a2c875629f2d 267 }
salco 22:a2c875629f2d 268 };
salco 27:ea60d12dccdf 269 #define SIZE_SEQFOWARD 43
salco 27:ea60d12dccdf 270 unsigned char table_seqFoward_PAUSE_TIME[SIZE_SEQFOWARD][2] = {
salco 26:15cb45d56c28 271 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 0, 45},{ 61, 50},
salco 24:c7246270a852 272 { 21, 20},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},
salco 27:ea60d12dccdf 273 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 50},{ 0, 50},{ 21, 20},{ 41, 45},
salco 24:c7246270a852 274 { 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50},
salco 24:c7246270a852 275 { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50},
salco 25:f3bd72f1dd8d 276 { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}
salco 25:f3bd72f1dd8d 277 };
salco 27:ea60d12dccdf 278 unsigned char table_seqFoward[SIZE_SEQFOWARD][8][3] = {
salco 23:7b296b6d8285 279 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 280 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 281 },
salco 23:7b296b6d8285 282 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 283 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 284 },
salco 23:7b296b6d8285 285 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 286 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 287 },
salco 23:7b296b6d8285 288 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 289 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 290 },
salco 23:7b296b6d8285 291 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},//attention ici 2 temps diferant
salco 23:7b296b6d8285 292 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{200, 86,124}
salco 23:7b296b6d8285 293 },
salco 23:7b296b6d8285 294 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255},
salco 23:7b296b6d8285 295 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205, 95,124}
salco 23:7b296b6d8285 296 },
salco 23:7b296b6d8285 297 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 298 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 299 },
salco 23:7b296b6d8285 300 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255},
salco 23:7b296b6d8285 301 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 302 },
salco 23:7b296b6d8285 303 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{145,161,172}, /*12*/{255,255,255},
salco 23:7b296b6d8285 304 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130}
salco 23:7b296b6d8285 305 },
salco 23:7b296b6d8285 306 { /* 0*/{127,186,156}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255},
salco 23:7b296b6d8285 307 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{179, 81,167}
salco 23:7b296b6d8285 308 },
salco 26:15cb45d56c28 309 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 26:15cb45d56c28 310 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 26:15cb45d56c28 311 },
salco 23:7b296b6d8285 312 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
salco 23:7b296b6d8285 313 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 314 },
salco 23:7b296b6d8285 315 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},
salco 23:7b296b6d8285 316 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 317 },
salco 23:7b296b6d8285 318 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 319 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 320 },
salco 23:7b296b6d8285 321 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 322 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 323 },
salco 23:7b296b6d8285 324 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 325 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 326 },
salco 23:7b296b6d8285 327 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 328 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 329 },
salco 23:7b296b6d8285 330 { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 331 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255}
salco 23:7b296b6d8285 332 },
salco 23:7b296b6d8285 333 { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 334 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255}
salco 23:7b296b6d8285 335 },
salco 23:7b296b6d8285 336 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 337 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 338 },
salco 23:7b296b6d8285 339 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 340 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255}
salco 23:7b296b6d8285 341 },
salco 23:7b296b6d8285 342 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},//attention temps diferant ici
salco 23:7b296b6d8285 343 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{154,133,133}, /*28*/{255,255,255}
salco 23:7b296b6d8285 344 },
salco 23:7b296b6d8285 345 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 23:7b296b6d8285 346 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 347 },
salco 23:7b296b6d8285 348 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 349 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 350 },
salco 23:7b296b6d8285 351 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 352 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 353 },
salco 23:7b296b6d8285 354 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{145,158,173},
salco 23:7b296b6d8285 355 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 356 },
salco 27:ea60d12dccdf 357 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 27:ea60d12dccdf 358 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 27:ea60d12dccdf 359 },
salco 23:7b296b6d8285 360 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps
salco 23:7b296b6d8285 361 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255}
salco 23:7b296b6d8285 362 },
salco 23:7b296b6d8285 363 { /* 0*/{127,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{116,219,134},
salco 23:7b296b6d8285 364 /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 365 },
salco 23:7b296b6d8285 366 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 367 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 368 },
salco 23:7b296b6d8285 369 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 370 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 371 },
salco 23:7b296b6d8285 372 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 373 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 374 },
salco 23:7b296b6d8285 375 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 376 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 377 },
salco 23:7b296b6d8285 378 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 379 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 380 },
salco 23:7b296b6d8285 381 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 382 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 383 },
salco 23:7b296b6d8285 384 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 385 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 386 },
salco 23:7b296b6d8285 387 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 388 /*16*/{204,110,107}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 389 },
salco 23:7b296b6d8285 390 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 391 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 392 },
salco 23:7b296b6d8285 393 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 394 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 395 },
salco 23:7b296b6d8285 396 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 397 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 398 },
salco 23:7b296b6d8285 399 { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 400 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 401 },
salco 23:7b296b6d8285 402 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 403 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 404 },
salco 23:7b296b6d8285 405 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 406 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 407 }
salco 23:7b296b6d8285 408 };
salco 27:ea60d12dccdf 409
salco 27:ea60d12dccdf 410 #define SIZE_SEQBACKWARD 35
salco 27:ea60d12dccdf 411 unsigned char table_seqBackward_PAUSE_TIME[SIZE_SEQBACKWARD][2] = {
salco 27:ea60d12dccdf 412 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 31, 30},{ 0, 45},{ 61, 50},
salco 24:c7246270a852 413 { 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},
salco 27:ea60d12dccdf 414 { 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 45},{ 0, 50},{ 21, 20},{ 41, 45},{ 21, 20},
salco 25:f3bd72f1dd8d 415 { 21, 20},{ 31, 30},{ 31, 50}
salco 25:f3bd72f1dd8d 416 };
salco 27:ea60d12dccdf 417 unsigned char table_seqBackward[SIZE_SEQBACKWARD][8][3] = {
salco 23:7b296b6d8285 418 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
salco 23:7b296b6d8285 419 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}
salco 23:7b296b6d8285 420 },
salco 23:7b296b6d8285 421 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{89,193,186}, /*12*/{255,255,255},
salco 23:7b296b6d8285 422 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205,95,124}
salco 23:7b296b6d8285 423 },
salco 23:7b296b6d8285 424 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 425 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 426 },
salco 23:7b296b6d8285 427 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255},
salco 23:7b296b6d8285 428 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 429 },
salco 23:7b296b6d8285 430 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},//attention ici 2 temps diferant
salco 23:7b296b6d8285 431 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{181, 81,167}
salco 23:7b296b6d8285 432 },
salco 23:7b296b6d8285 433 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 434 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 435 },
salco 23:7b296b6d8285 436 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 437 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 438 },
salco 23:7b296b6d8285 439 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 440 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 441 },
salco 23:7b296b6d8285 442 { /* 0*/{136,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 443 /*16*/{255,255,255}, /*20*/{176,108,146}, /*24*/{255,255,255}, /*28*/{179, 81,167}
salco 23:7b296b6d8285 444 },
salco 23:7b296b6d8285 445 { /* 0*/{123,217,135}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255},
salco 23:7b296b6d8285 446 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130}
salco 23:7b296b6d8285 447 },
salco 23:7b296b6d8285 448 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 27:ea60d12dccdf 449 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 27:ea60d12dccdf 450 },
salco 27:ea60d12dccdf 451 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 452 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 453 },
salco 23:7b296b6d8285 454 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 455 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115}
salco 23:7b296b6d8285 456 },
salco 23:7b296b6d8285 457 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 458 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169}
salco 23:7b296b6d8285 459 },
salco 23:7b296b6d8285 460 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 461 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167}
salco 23:7b296b6d8285 462 },
salco 23:7b296b6d8285 463 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 464 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 465 },
salco 23:7b296b6d8285 466 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 467 /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 468 },
salco 23:7b296b6d8285 469 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 470 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 471 },
salco 23:7b296b6d8285 472 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 473 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 474 },
salco 23:7b296b6d8285 475 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},
salco 23:7b296b6d8285 476 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 477 },
salco 23:7b296b6d8285 478 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 23:7b296b6d8285 479 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 480 },
salco 23:7b296b6d8285 481 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 482 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 483 },
salco 23:7b296b6d8285 484 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 485 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 486 },
salco 23:7b296b6d8285 487 { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{116,219,134},//attention plusieur temps
salco 23:7b296b6d8285 488 /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255}
salco 23:7b296b6d8285 489 },
salco 23:7b296b6d8285 490 { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 491 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255}
salco 23:7b296b6d8285 492 },
salco 23:7b296b6d8285 493 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 494 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 495 },
salco 23:7b296b6d8285 496 { /* 0*/{255,255,255}, /* 4*/{86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 497 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255}
salco 23:7b296b6d8285 498 },
salco 23:7b296b6d8285 499 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 500 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 501 },
salco 27:ea60d12dccdf 502 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 27:ea60d12dccdf 503 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 27:ea60d12dccdf 504 },
salco 23:7b296b6d8285 505 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps
salco 23:7b296b6d8285 506 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255}
salco 23:7b296b6d8285 507 },
salco 23:7b296b6d8285 508 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{132,178,166},
salco 23:7b296b6d8285 509 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 510 },
salco 23:7b296b6d8285 511 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 512 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 513 },
salco 23:7b296b6d8285 514 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{92,198,199},
salco 23:7b296b6d8285 515 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 516 },
salco 23:7b296b6d8285 517 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145},
salco 23:7b296b6d8285 518 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 519 },
salco 23:7b296b6d8285 520 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142},
salco 23:7b296b6d8285 521 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 522 }
salco 23:7b296b6d8285 523 };
salco 19:0ac80045ba4c 524 /*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 525 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 526 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 527 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 528 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 529 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 530 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 531 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 532 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 533 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 534 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 535 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 536 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 537 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 538 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 539 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 540 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 541 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/
salco 0:e4151abdff23 542 homemadeSequence::homemadeSequence()
salco 0:e4151abdff23 543 {
salco 19:0ac80045ba4c 544 m_SequenceChosen=0;
salco 19:0ac80045ba4c 545 m_idFrame=0;
salco 22:a2c875629f2d 546 m_idLegUse =0;
salco 27:ea60d12dccdf 547 delaisNeed =-1;
salco 27:ea60d12dccdf 548 for(int i=0; i<8; i++)timeSequence[i]=255;
salco 0:e4151abdff23 549 }
salco 0:e4151abdff23 550 homemadeSequence::~homemadeSequence()
salco 0:e4151abdff23 551 {
salco 0:e4151abdff23 552
salco 0:e4151abdff23 553 }
salco 27:ea60d12dccdf 554 int homemadeSequence::patchDelais(char idMode)
salco 27:ea60d12dccdf 555 {
salco 27:ea60d12dccdf 556 int result=-1;
salco 27:ea60d12dccdf 557 switch(idMode) {
salco 27:ea60d12dccdf 558 /*case 1:
salco 27:ea60d12dccdf 559 break;
salco 27:ea60d12dccdf 560 case 2:
salco 27:ea60d12dccdf 561 break;
salco 27:ea60d12dccdf 562 case 3:
salco 27:ea60d12dccdf 563 break;*/
salco 27:ea60d12dccdf 564 case 4:
salco 27:ea60d12dccdf 565 result = (table_seqTurn_PAUSE_TIME[0][0])*10;
salco 27:ea60d12dccdf 566 break;
salco 27:ea60d12dccdf 567 /*case 5:
salco 27:ea60d12dccdf 568 break;*/
salco 27:ea60d12dccdf 569 case 6:
salco 27:ea60d12dccdf 570 result = (table_seqFoward_PAUSE_TIME[0][0])*10;
salco 27:ea60d12dccdf 571 break;
salco 27:ea60d12dccdf 572 case 7:
salco 27:ea60d12dccdf 573 result = (table_seqBackward_PAUSE_TIME[0][0])*10;
salco 27:ea60d12dccdf 574 break;
salco 27:ea60d12dccdf 575 case 8:
salco 27:ea60d12dccdf 576 result = (table_seqRepositionne_PAUSE_TIME[0][0])*10;
salco 27:ea60d12dccdf 577 break;
salco 27:ea60d12dccdf 578 /*case 9:
salco 27:ea60d12dccdf 579 break;
salco 27:ea60d12dccdf 580 case 10:
salco 27:ea60d12dccdf 581 break;
salco 27:ea60d12dccdf 582 case 11:
salco 27:ea60d12dccdf 583 break;*/
salco 27:ea60d12dccdf 584 default:
salco 27:ea60d12dccdf 585 result = -1;
salco 27:ea60d12dccdf 586 break;
salco 27:ea60d12dccdf 587 }
salco 27:ea60d12dccdf 588 return result;
salco 27:ea60d12dccdf 589 }
salco 0:e4151abdff23 590 unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg)
salco 0:e4151abdff23 591 {
salco 19:0ac80045ba4c 592 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame");
salco 0:e4151abdff23 593 m_posLeg[0] = 0;
salco 0:e4151abdff23 594 m_posLeg[1] = 0;
salco 0:e4151abdff23 595 m_posLeg[2] = 0;
salco 0:e4151abdff23 596 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 597 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg);
salco 19:0ac80045ba4c 598 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen);
salco 19:0ac80045ba4c 599 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame);
salco 0:e4151abdff23 600 switch(m_SequenceChosen) {
salco 0:e4151abdff23 601 case 1:// 01 - Calibration(milieu) //
salco 0:e4151abdff23 602 if(m_idFrame == 1) {//if(idOperation == 1) {
salco 0:e4151abdff23 603 m_posLeg[0] = 150;
salco 0:e4151abdff23 604 m_posLeg[1] = 150;
salco 0:e4151abdff23 605 m_posLeg[2] = 150;
salco 0:e4151abdff23 606 m_posLeg[3] = 150;
salco 19:0ac80045ba4c 607 } else {
salco 19:0ac80045ba4c 608 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 609 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 610 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 611 m_posLeg[3] = 0;
salco 0:e4151abdff23 612 }
salco 0:e4151abdff23 613 break;
salco 0:e4151abdff23 614
salco 0:e4151abdff23 615 case 2:// 02 - Debout //
salco 0:e4151abdff23 616 seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg);
salco 0:e4151abdff23 617 break;
salco 0:e4151abdff23 618 case 3:// 03 - Coucher //
salco 0:e4151abdff23 619 seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg);
salco 0:e4151abdff23 620 break;
salco 0:e4151abdff23 621 case 4:// 04 - Tourne Gauche //
salco 27:ea60d12dccdf 622 //delaisNeed = (table_seqTurn_PAUSE_TIME[m_idFrame-1][0])*10;
salco 27:ea60d12dccdf 623 //debug("\n\r asd:%i",delaisNeed);
salco 25:f3bd72f1dd8d 624 seqTurn(false,m_idFrame,idLeg);
salco 0:e4151abdff23 625 break;
salco 0:e4151abdff23 626 case 5:// 05 - Tourne Droite //
salco 27:ea60d12dccdf 627 //delaisNeed = (table_seqTurn_PAUSE_TIME[m_idFrame-1][0])*10;
salco 27:ea60d12dccdf 628 //debug("\n\r seqt:%i",delaisNeed);
salco 25:f3bd72f1dd8d 629 seqTurn(true,m_idFrame,idLeg);
salco 0:e4151abdff23 630 break;
salco 0:e4151abdff23 631 case 6:// 06 - Marche //
salco 25:f3bd72f1dd8d 632 seqWalk(true,m_idFrame,idLeg);
salco 0:e4151abdff23 633 break;
salco 0:e4151abdff23 634 case 7:// 07 - Recule //
salco 25:f3bd72f1dd8d 635 seqWalk(false,m_idFrame,idLeg);
salco 0:e4151abdff23 636 break;
salco 0:e4151abdff23 637 case 8:// 07 - Repositioner //
salco 22:a2c875629f2d 638 seqRepositioner(m_idFrame,idLeg);
salco 0:e4151abdff23 639 break;
salco 0:e4151abdff23 640 case 9:// 09 - Crabe Gauche //
salco 21:5c17b7836733 641 seqCrabe(false,m_idFrame,idLeg);
salco 0:e4151abdff23 642 break;
salco 0:e4151abdff23 643 case 10:// 10 - Crabe Droite //
salco 21:5c17b7836733 644 seqCrabe(true,m_idFrame,idLeg);
salco 0:e4151abdff23 645 break;
salco 27:ea60d12dccdf 646 case 11:// 11 - Position naturel //
salco 27:ea60d12dccdf 647 defaultPosition(idLeg);
salco 27:ea60d12dccdf 648 break;
salco 0:e4151abdff23 649 }
salco 27:ea60d12dccdf 650 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r delaisNeed: %i",delaisNeed);
salco 27:ea60d12dccdf 651 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r timeSequence: ");
salco 27:ea60d12dccdf 652 for(int i=0; i<8; i++)debug(DEBUG_HOMEMADE_GETFRAME," [ %i ] ",timeSequence[i]);
salco 19:0ac80045ba4c 653 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 27:ea60d12dccdf 654 //debug("\n\r seqturn:%i",delaisNeed);
salco 19:0ac80045ba4c 655 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame");
salco 0:e4151abdff23 656 return m_posLeg;
salco 0:e4151abdff23 657 }
salco 0:e4151abdff23 658
salco 0:e4151abdff23 659 void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg)
salco 0:e4151abdff23 660 {
salco 27:ea60d12dccdf 661 delaisNeed = DELAITESTE;//(table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
salco 0:e4151abdff23 662 if((idOperation<10)&&(idOperation>0)) {
salco 19:0ac80045ba4c 663 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 664 case 1://#0
salco 0:e4151abdff23 665 m_posLeg[0] = 140;
salco 0:e4151abdff23 666 break;
salco 22:a2c875629f2d 667 case 2://#4
salco 0:e4151abdff23 668 m_posLeg[0] = 165;
salco 0:e4151abdff23 669 break;
salco 22:a2c875629f2d 670 case 3://#8
salco 0:e4151abdff23 671 m_posLeg[0] = 160;
salco 0:e4151abdff23 672 break;
salco 22:a2c875629f2d 673 case 6://#20
salco 0:e4151abdff23 674 m_posLeg[0] = 133;
salco 0:e4151abdff23 675 break;
salco 22:a2c875629f2d 676 case 7://#24
salco 0:e4151abdff23 677 m_posLeg[0] = 170;
salco 0:e4151abdff23 678 break;
salco 22:a2c875629f2d 679 default://#12 #28
salco 0:e4151abdff23 680 m_posLeg[0] = 150;
salco 0:e4151abdff23 681 break;
salco 0:e4151abdff23 682 }
salco 22:a2c875629f2d 683 if(downUP) {
salco 19:0ac80045ba4c 684 if(idLeg<5)
salco 19:0ac80045ba4c 685 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 686 else
salco 19:0ac80045ba4c 687 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1];
salco 22:a2c875629f2d 688 } else {
salco 19:0ac80045ba4c 689 if(idLeg<5)
salco 19:0ac80045ba4c 690 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 691 else
salco 19:0ac80045ba4c 692 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1];
salco 22:a2c875629f2d 693 }
salco 19:0ac80045ba4c 694 /*if(idOperation == 1) {
salco 0:e4151abdff23 695 if(idLeg<5) {
salco 0:e4151abdff23 696 m_posLeg[1] = 80;
salco 0:e4151abdff23 697 m_posLeg[2] = 210;
salco 0:e4151abdff23 698 m_posLeg[3] = 160;
salco 0:e4151abdff23 699 } else {
salco 0:e4151abdff23 700 m_posLeg[1] = 220;
salco 0:e4151abdff23 701 m_posLeg[2] = 90;
salco 0:e4151abdff23 702 m_posLeg[3] = 114;
salco 0:e4151abdff23 703 }
salco 0:e4151abdff23 704
salco 0:e4151abdff23 705 } else {
salco 0:e4151abdff23 706 if(!downUP) {
salco 0:e4151abdff23 707 if(idOperation == 9) {
salco 0:e4151abdff23 708 if(idLeg<5) {
salco 0:e4151abdff23 709 m_posLeg[1] = 80;
salco 0:e4151abdff23 710 m_posLeg[2] = 100;
salco 0:e4151abdff23 711 m_posLeg[3] = 150;
salco 0:e4151abdff23 712 } else {
salco 0:e4151abdff23 713 m_posLeg[1] = 220;
salco 0:e4151abdff23 714 m_posLeg[2] = 200;
salco 0:e4151abdff23 715 m_posLeg[3] = 150;
salco 0:e4151abdff23 716 }
salco 0:e4151abdff23 717 }
salco 0:e4151abdff23 718 idOperation = 10 - idOperation;
salco 0:e4151abdff23 719 }
salco 0:e4151abdff23 720
salco 0:e4151abdff23 721 switch(idOperation) {
salco 19:0ac80045ba4c 722 case 1:
salco 0:e4151abdff23 723
salco 19:0ac80045ba4c 724 break;
salco 0:e4151abdff23 725 case 2:
salco 0:e4151abdff23 726 if(idLeg<5) {
salco 0:e4151abdff23 727 m_posLeg[1] = 80;
salco 0:e4151abdff23 728 m_posLeg[2] = 220;
salco 0:e4151abdff23 729 m_posLeg[3] = 170;
salco 0:e4151abdff23 730 } else {
salco 0:e4151abdff23 731 m_posLeg[1] = 220;
salco 0:e4151abdff23 732 m_posLeg[2] = 80;
salco 0:e4151abdff23 733 m_posLeg[3] = 130;
salco 0:e4151abdff23 734 }
salco 0:e4151abdff23 735 break;
salco 0:e4151abdff23 736 case 3:
salco 0:e4151abdff23 737 if(idLeg<5) {
salco 0:e4151abdff23 738 m_posLeg[1] = 90;
salco 0:e4151abdff23 739 m_posLeg[2] = 220;
salco 0:e4151abdff23 740 m_posLeg[3] = 160;
salco 0:e4151abdff23 741 } else {
salco 0:e4151abdff23 742 m_posLeg[1] = 200;
salco 0:e4151abdff23 743 m_posLeg[2] = 200;
salco 0:e4151abdff23 744 m_posLeg[3] = 140;
salco 0:e4151abdff23 745 }
salco 0:e4151abdff23 746 break;
salco 0:e4151abdff23 747 case 4:
salco 0:e4151abdff23 748 if(idLeg<5) {
salco 0:e4151abdff23 749 m_posLeg[1] = 106;
salco 0:e4151abdff23 750 m_posLeg[2] = 220;
salco 0:e4151abdff23 751 m_posLeg[3] = 150;
salco 0:e4151abdff23 752 } else {
salco 0:e4151abdff23 753 m_posLeg[1] = 195;
salco 0:e4151abdff23 754 m_posLeg[2] = 80;
salco 0:e4151abdff23 755 m_posLeg[3] = 150;
salco 0:e4151abdff23 756 }
salco 0:e4151abdff23 757 break;
salco 0:e4151abdff23 758 case 5:
salco 0:e4151abdff23 759 if(idLeg<5) {
salco 0:e4151abdff23 760 m_posLeg[1] = 128;
salco 0:e4151abdff23 761 m_posLeg[2] = 220;
salco 0:e4151abdff23 762 m_posLeg[3] = 128;
salco 0:e4151abdff23 763 } else {
salco 0:e4151abdff23 764 m_posLeg[1] = 172;
salco 0:e4151abdff23 765 m_posLeg[2] = 80;
salco 0:e4151abdff23 766 m_posLeg[3] = 173;
salco 0:e4151abdff23 767 }
salco 0:e4151abdff23 768 break;
salco 0:e4151abdff23 769 case 6:
salco 0:e4151abdff23 770 if(idLeg<5) {
salco 0:e4151abdff23 771 m_posLeg[1] = 144;
salco 0:e4151abdff23 772 m_posLeg[2] = 205;
salco 0:e4151abdff23 773 m_posLeg[3] = 130;
salco 0:e4151abdff23 774 } else {
salco 0:e4151abdff23 775 m_posLeg[1] = 156;
salco 0:e4151abdff23 776 m_posLeg[2] = 95;
salco 0:e4151abdff23 777 m_posLeg[3] = 170;
salco 0:e4151abdff23 778 }
salco 0:e4151abdff23 779 break;
salco 0:e4151abdff23 780 case 7:
salco 0:e4151abdff23 781 if(idLeg<5) {
salco 0:e4151abdff23 782 m_posLeg[1] = 144;
salco 0:e4151abdff23 783 m_posLeg[2] = 211;
salco 0:e4151abdff23 784 m_posLeg[3] = 123;
salco 0:e4151abdff23 785 } else {
salco 0:e4151abdff23 786 m_posLeg[1] = 156;
salco 0:e4151abdff23 787 m_posLeg[2] = 89;
salco 0:e4151abdff23 788 m_posLeg[3] = 177;
salco 0:e4151abdff23 789 }
salco 0:e4151abdff23 790 break;
salco 0:e4151abdff23 791 case 8:
salco 0:e4151abdff23 792 if(idLeg<5) {
salco 0:e4151abdff23 793 m_posLeg[1] = 172;
salco 0:e4151abdff23 794 m_posLeg[2] = 185;
salco 0:e4151abdff23 795 m_posLeg[3] = 124;
salco 0:e4151abdff23 796 } else {
salco 0:e4151abdff23 797 m_posLeg[1] = 128;
salco 0:e4151abdff23 798 m_posLeg[2] = 115;
salco 0:e4151abdff23 799 m_posLeg[3] = 176;
salco 0:e4151abdff23 800 }
salco 0:e4151abdff23 801 break;
salco 0:e4151abdff23 802 case 9:
salco 0:e4151abdff23 803 if(idLeg<5) {
salco 0:e4151abdff23 804 m_posLeg[1] = 194;
salco 0:e4151abdff23 805 m_posLeg[2] = 166;
salco 0:e4151abdff23 806 m_posLeg[3] = 118;
salco 0:e4151abdff23 807 } else {
salco 0:e4151abdff23 808 m_posLeg[1] = 106;
salco 0:e4151abdff23 809 m_posLeg[2] = 134;
salco 0:e4151abdff23 810 m_posLeg[3] = 182;
salco 0:e4151abdff23 811 }
salco 0:e4151abdff23 812 break;
salco 19:0ac80045ba4c 813 default:
salco 19:0ac80045ba4c 814 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 815 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 816 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 817 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 818 break;
salco 0:e4151abdff23 819 }
salco 19:0ac80045ba4c 820 }*/
salco 0:e4151abdff23 821 }
salco 0:e4151abdff23 822 }
salco 0:e4151abdff23 823 void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
salco 22:a2c875629f2d 824 {
salco 27:ea60d12dccdf 825 if(idOperation<=SIZE_SEQTURN) {
salco 27:ea60d12dccdf 826 m_posLeg[0]= 255;
salco 22:a2c875629f2d 827 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqTurn[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 828 delaisNeed = (table_seqTurn_PAUSE_TIME[idOperation-1][0])*10;
salco 27:ea60d12dccdf 829 //debug("\n\r seqturn:%i",delaisNeed);
salco 22:a2c875629f2d 830 timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1];
salco 22:a2c875629f2d 831
salco 22:a2c875629f2d 832 switch(idOperation) {
salco 22:a2c875629f2d 833
salco 22:a2c875629f2d 834 case 3:
salco 22:a2c875629f2d 835 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 836 case 3://#8
salco 22:a2c875629f2d 837 m_posLeg[0]= (leftRIGHT)? 180:140;
salco 22:a2c875629f2d 838 break;
salco 22:a2c875629f2d 839 case 6://#20
salco 22:a2c875629f2d 840 m_posLeg[0]= (leftRIGHT)? 150:114;
salco 22:a2c875629f2d 841 break;
salco 22:a2c875629f2d 842 }
salco 22:a2c875629f2d 843 break;
salco 22:a2c875629f2d 844 case 11:
salco 22:a2c875629f2d 845 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 846 case 1://#0
salco 22:a2c875629f2d 847 m_posLeg[0]= (leftRIGHT)? 150:110;
salco 22:a2c875629f2d 848 break;
salco 27:ea60d12dccdf 849 case 8://28
salco 22:a2c875629f2d 850 m_posLeg[0]= (leftRIGHT)? 164:104;
salco 22:a2c875629f2d 851 break;
salco 22:a2c875629f2d 852 }
salco 22:a2c875629f2d 853 break;
salco 22:a2c875629f2d 854 case 17:
salco 22:a2c875629f2d 855 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 856 case 1://#0
salco 22:a2c875629f2d 857 m_posLeg[0]= 140;
salco 22:a2c875629f2d 858 break;
salco 22:a2c875629f2d 859 case 2://4
salco 22:a2c875629f2d 860 m_posLeg[0]= (leftRIGHT)? 150:176;
salco 22:a2c875629f2d 861 break;
salco 22:a2c875629f2d 862 case 3://8
salco 22:a2c875629f2d 863 m_posLeg[0]= 160;
salco 22:a2c875629f2d 864 break;
salco 22:a2c875629f2d 865 case 6://20
salco 22:a2c875629f2d 866 m_posLeg[0]= 133;
salco 22:a2c875629f2d 867 break;
salco 22:a2c875629f2d 868 case 7://24
salco 22:a2c875629f2d 869 m_posLeg[0]= (leftRIGHT)? 153:183;
salco 22:a2c875629f2d 870 break;
salco 22:a2c875629f2d 871 case 8://28
salco 22:a2c875629f2d 872 m_posLeg[0]= 133;
salco 22:a2c875629f2d 873 break;
salco 22:a2c875629f2d 874 }
salco 22:a2c875629f2d 875 if((idLeg != 4) || (idLeg != 5))
salco 22:a2c875629f2d 876 timeSequence[idLeg-1] = 30;
salco 22:a2c875629f2d 877
salco 22:a2c875629f2d 878 break;
salco 22:a2c875629f2d 879
salco 22:a2c875629f2d 880 case 25:
salco 22:a2c875629f2d 881 if(idLeg == 7)
salco 22:a2c875629f2d 882 m_posLeg[0] = 170;
salco 22:a2c875629f2d 883 break;
salco 22:a2c875629f2d 884
salco 22:a2c875629f2d 885 case 29:
salco 22:a2c875629f2d 886 if(idLeg == 2)
salco 22:a2c875629f2d 887 m_posLeg[0] = 165;
salco 22:a2c875629f2d 888 break;
salco 22:a2c875629f2d 889 //case :
salco 22:a2c875629f2d 890 //break;
salco 27:ea60d12dccdf 891 //default:
salco 27:ea60d12dccdf 892 //m_posLeg[0]= 255;
salco 27:ea60d12dccdf 893 // break;
salco 22:a2c875629f2d 894 }
salco 22:a2c875629f2d 895
salco 22:a2c875629f2d 896
salco 22:a2c875629f2d 897
salco 22:a2c875629f2d 898 } else
salco 22:a2c875629f2d 899 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 900 }
salco 0:e4151abdff23 901 void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
salco 25:f3bd72f1dd8d 902 {
salco 25:f3bd72f1dd8d 903 if(backFRONT) {
salco 27:ea60d12dccdf 904 if(idOperation <= SIZE_SEQFOWARD) {
salco 27:ea60d12dccdf 905 m_posLeg[0]= 255;
salco 25:f3bd72f1dd8d 906 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqFoward[idOperation-1][idLeg-1][i-1];
salco 25:f3bd72f1dd8d 907 delaisNeed = (table_seqFoward_PAUSE_TIME[idOperation-1][0])*10;
salco 25:f3bd72f1dd8d 908 timeSequence[idLeg-1] = table_seqFoward_PAUSE_TIME[idOperation-1][1];
salco 25:f3bd72f1dd8d 909
salco 25:f3bd72f1dd8d 910 //manque qqch ici
salco 27:ea60d12dccdf 911 switch(idOperation) {
salco 26:15cb45d56c28 912 case 3:
salco 27:ea60d12dccdf 913 if(idLeg == 1) m_posLeg[0] = 150;
salco 27:ea60d12dccdf 914 else if(idLeg == 6) m_posLeg[0] = 123;
salco 27:ea60d12dccdf 915 break;
salco 27:ea60d12dccdf 916
salco 26:15cb45d56c28 917 case 5:
salco 27:ea60d12dccdf 918 if((idLeg ==1) || (idLeg==6))
salco 27:ea60d12dccdf 919 timeSequence[idLeg-1] = 30;
salco 27:ea60d12dccdf 920 break;
salco 27:ea60d12dccdf 921
salco 26:15cb45d56c28 922 case 7:
salco 27:ea60d12dccdf 923 if(idLeg == 3)m_posLeg[0] = 187;
salco 27:ea60d12dccdf 924 else if(idLeg == 8) m_posLeg[0] = 123;
salco 27:ea60d12dccdf 925 break;
salco 27:ea60d12dccdf 926
salco 26:15cb45d56c28 927 case 11:
salco 27:ea60d12dccdf 928 switch(idLeg) {
salco 27:ea60d12dccdf 929 case 1:
salco 27:ea60d12dccdf 930 m_posLeg[0] = 130;
salco 27:ea60d12dccdf 931 break;
salco 27:ea60d12dccdf 932 case 2:
salco 27:ea60d12dccdf 933 m_posLeg[0] = 140;
salco 27:ea60d12dccdf 934 break;
salco 27:ea60d12dccdf 935 case 3:
salco 27:ea60d12dccdf 936 m_posLeg[0] = 160;
salco 27:ea60d12dccdf 937 break;
salco 27:ea60d12dccdf 938 case 4:
salco 27:ea60d12dccdf 939 m_posLeg[0] = 117;
salco 27:ea60d12dccdf 940 break;
salco 27:ea60d12dccdf 941 case 5:
salco 27:ea60d12dccdf 942 m_posLeg[0] = 179;
salco 27:ea60d12dccdf 943 break;
salco 27:ea60d12dccdf 944 case 6:
salco 27:ea60d12dccdf 945 m_posLeg[0] = 134;
salco 27:ea60d12dccdf 946 break;
salco 27:ea60d12dccdf 947 case 7:
salco 27:ea60d12dccdf 948 m_posLeg[0] = 183;
salco 27:ea60d12dccdf 949 break;
salco 27:ea60d12dccdf 950 case 8:
salco 27:ea60d12dccdf 951 m_posLeg[0] = 144;
salco 27:ea60d12dccdf 952 break;
salco 27:ea60d12dccdf 953 }
salco 26:15cb45d56c28 954 break;
salco 27:ea60d12dccdf 955
salco 27:ea60d12dccdf 956 case 16:
salco 27:ea60d12dccdf 957 if(idLeg == 1) m_posLeg[0] = 137;
salco 26:15cb45d56c28 958 break;
salco 27:ea60d12dccdf 959
salco 27:ea60d12dccdf 960 case 20:
salco 27:ea60d12dccdf 961 if(idLeg == 2) m_posLeg[0] = 176;
salco 27:ea60d12dccdf 962 else if(idLeg == 7) m_posLeg[0] = 160;
salco 26:15cb45d56c28 963 break;
salco 27:ea60d12dccdf 964
salco 27:ea60d12dccdf 965 case 22:
salco 27:ea60d12dccdf 966 if((idLeg ==2) || (idLeg==7))
salco 27:ea60d12dccdf 967 timeSequence[idLeg-1] = 30;
salco 26:15cb45d56c28 968 break;
salco 27:ea60d12dccdf 969
salco 27:ea60d12dccdf 970 case 24:
salco 27:ea60d12dccdf 971 if(idLeg == 4) m_posLeg[0] = 174;
salco 27:ea60d12dccdf 972 else if(idLeg == 5) m_posLeg[0] = 133;
salco 26:15cb45d56c28 973 break;
salco 27:ea60d12dccdf 974
salco 27:ea60d12dccdf 975 case 27:
salco 27:ea60d12dccdf 976 switch(idLeg) {
salco 27:ea60d12dccdf 977 case 1:
salco 27:ea60d12dccdf 978 m_posLeg[0] = 110;
salco 27:ea60d12dccdf 979 break;
salco 27:ea60d12dccdf 980 case 2:
salco 27:ea60d12dccdf 981 m_posLeg[0] = 160;
salco 27:ea60d12dccdf 982 break;
salco 27:ea60d12dccdf 983 case 3:
salco 27:ea60d12dccdf 984 m_posLeg[0] = 140;
salco 27:ea60d12dccdf 985 break;
salco 27:ea60d12dccdf 986 case 4:
salco 27:ea60d12dccdf 987 m_posLeg[0] = 150;
salco 27:ea60d12dccdf 988 break;
salco 27:ea60d12dccdf 989 case 5:
salco 27:ea60d12dccdf 990 m_posLeg[0] = 153;
salco 27:ea60d12dccdf 991 break;
salco 27:ea60d12dccdf 992 case 6:
salco 27:ea60d12dccdf 993 m_posLeg[0] = 150;
salco 27:ea60d12dccdf 994 break;
salco 27:ea60d12dccdf 995 case 7:
salco 27:ea60d12dccdf 996 m_posLeg[0] = 173;
salco 27:ea60d12dccdf 997 break;
salco 27:ea60d12dccdf 998 case 8:
salco 27:ea60d12dccdf 999 m_posLeg[0] = 170;
salco 27:ea60d12dccdf 1000 break;
salco 27:ea60d12dccdf 1001 }
salco 27:ea60d12dccdf 1002 break;
salco 27:ea60d12dccdf 1003
salco 27:ea60d12dccdf 1004 case 34:
salco 27:ea60d12dccdf 1005 if(idLeg == 1) m_posLeg[0] = 130;
salco 27:ea60d12dccdf 1006 break;
salco 27:ea60d12dccdf 1007
salco 27:ea60d12dccdf 1008 case 38:
salco 27:ea60d12dccdf 1009 if(idLeg == 5) m_posLeg[0] = 153;//165;
salco 27:ea60d12dccdf 1010 break;
salco 27:ea60d12dccdf 1011
salco 27:ea60d12dccdf 1012 case 42:
salco 27:ea60d12dccdf 1013 if(idLeg == 2) m_posLeg[0] = 165;
salco 27:ea60d12dccdf 1014 break;
salco 26:15cb45d56c28 1015 }
salco 25:f3bd72f1dd8d 1016 } else
salco 25:f3bd72f1dd8d 1017 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 25:f3bd72f1dd8d 1018
salco 25:f3bd72f1dd8d 1019 } else {
salco 27:ea60d12dccdf 1020 if(idOperation <= SIZE_SEQBACKWARD) {
salco 27:ea60d12dccdf 1021 m_posLeg[0]= 255;
salco 25:f3bd72f1dd8d 1022 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqBackward[idOperation-1][idLeg-1][i-1];
salco 25:f3bd72f1dd8d 1023 delaisNeed = (table_seqBackward_PAUSE_TIME[idOperation-1][0])*10;
salco 25:f3bd72f1dd8d 1024 timeSequence[idLeg-1] = table_seqBackward_PAUSE_TIME[idOperation-1][1];
salco 25:f3bd72f1dd8d 1025
salco 25:f3bd72f1dd8d 1026 //manque qqch ici
salco 27:ea60d12dccdf 1027 switch(idOperation) {
salco 27:ea60d12dccdf 1028 case 3:
salco 27:ea60d12dccdf 1029 if(idLeg == 3) m_posLeg[0] = 140;
salco 27:ea60d12dccdf 1030 else if(idLeg == 8) m_posLeg[0] = 170;
salco 27:ea60d12dccdf 1031 break;
salco 27:ea60d12dccdf 1032
salco 27:ea60d12dccdf 1033 case 5:
salco 27:ea60d12dccdf 1034 if((idLeg ==3) || (idLeg==8))
salco 27:ea60d12dccdf 1035 timeSequence[idLeg-1] = 30;
salco 27:ea60d12dccdf 1036 break;
salco 27:ea60d12dccdf 1037
salco 27:ea60d12dccdf 1038 case 7:
salco 27:ea60d12dccdf 1039 if(idLeg == 1)m_posLeg[0] = 110;
salco 27:ea60d12dccdf 1040 else if(idLeg == 6) m_posLeg[0] = 150;
salco 27:ea60d12dccdf 1041 break;
salco 27:ea60d12dccdf 1042
salco 27:ea60d12dccdf 1043 case 11:
salco 27:ea60d12dccdf 1044 switch(idLeg) {
salco 27:ea60d12dccdf 1045 case 1:
salco 27:ea60d12dccdf 1046 m_posLeg[0] = 130;
salco 27:ea60d12dccdf 1047 break;
salco 27:ea60d12dccdf 1048 case 2:
salco 27:ea60d12dccdf 1049 m_posLeg[0] = 176;
salco 27:ea60d12dccdf 1050 break;
salco 27:ea60d12dccdf 1051 case 3:
salco 27:ea60d12dccdf 1052 m_posLeg[0] = 160;
salco 27:ea60d12dccdf 1053 break;
salco 27:ea60d12dccdf 1054 case 4:
salco 27:ea60d12dccdf 1055 m_posLeg[0] = 174;
salco 27:ea60d12dccdf 1056 break;
salco 27:ea60d12dccdf 1057 case 5:
salco 27:ea60d12dccdf 1058 m_posLeg[0] = 133;
salco 27:ea60d12dccdf 1059 break;
salco 27:ea60d12dccdf 1060 case 6:
salco 27:ea60d12dccdf 1061 m_posLeg[0] = 134;
salco 27:ea60d12dccdf 1062 break;
salco 27:ea60d12dccdf 1063 case 7:
salco 27:ea60d12dccdf 1064 m_posLeg[0] = 160;
salco 27:ea60d12dccdf 1065 break;
salco 27:ea60d12dccdf 1066 case 8:
salco 27:ea60d12dccdf 1067 m_posLeg[0] = 144;
salco 27:ea60d12dccdf 1068 break;
salco 27:ea60d12dccdf 1069 }
salco 27:ea60d12dccdf 1070 break;
salco 27:ea60d12dccdf 1071
salco 27:ea60d12dccdf 1072 case 13:
salco 27:ea60d12dccdf 1073 if(idLeg == 8) m_posLeg[0] = 144;
salco 27:ea60d12dccdf 1074 break;
salco 27:ea60d12dccdf 1075
salco 27:ea60d12dccdf 1076 case 17:
salco 27:ea60d12dccdf 1077 if(idLeg == 6) m_posLeg[0] = 133;
salco 27:ea60d12dccdf 1078 break;
salco 27:ea60d12dccdf 1079
salco 27:ea60d12dccdf 1080 case 22:
salco 27:ea60d12dccdf 1081 if(idLeg == 4) m_posLeg[0] = 117;
salco 27:ea60d12dccdf 1082 else if(idLeg == 5) m_posLeg[0] = 179;
salco 27:ea60d12dccdf 1083 break;
salco 27:ea60d12dccdf 1084
salco 27:ea60d12dccdf 1085 case 24:
salco 27:ea60d12dccdf 1086 if((idLeg ==4) || (idLeg==5))
salco 27:ea60d12dccdf 1087 timeSequence[idLeg-1] = 45;
salco 27:ea60d12dccdf 1088 break;
salco 27:ea60d12dccdf 1089
salco 27:ea60d12dccdf 1090 case 26:
salco 27:ea60d12dccdf 1091 if(idLeg == 2) m_posLeg[0] = 140;
salco 27:ea60d12dccdf 1092 else if(idLeg == 7) m_posLeg[0] = 190;
salco 27:ea60d12dccdf 1093 break;
salco 27:ea60d12dccdf 1094
salco 27:ea60d12dccdf 1095 case 29:
salco 27:ea60d12dccdf 1096 switch(idLeg) {
salco 27:ea60d12dccdf 1097 case 1:
salco 27:ea60d12dccdf 1098 m_posLeg[0] = 150;
salco 27:ea60d12dccdf 1099 break;
salco 27:ea60d12dccdf 1100 case 2:
salco 27:ea60d12dccdf 1101 m_posLeg[0] = 160;
salco 27:ea60d12dccdf 1102 break;
salco 27:ea60d12dccdf 1103 case 3:
salco 27:ea60d12dccdf 1104 m_posLeg[0] = 187;
salco 27:ea60d12dccdf 1105 break;
salco 27:ea60d12dccdf 1106 case 4:
salco 27:ea60d12dccdf 1107 m_posLeg[0] = 150;
salco 27:ea60d12dccdf 1108 break;
salco 27:ea60d12dccdf 1109 case 5:
salco 27:ea60d12dccdf 1110 m_posLeg[0] = 153;
salco 27:ea60d12dccdf 1111 break;
salco 27:ea60d12dccdf 1112 case 6:
salco 27:ea60d12dccdf 1113 m_posLeg[0] = 123;
salco 27:ea60d12dccdf 1114 break;
salco 27:ea60d12dccdf 1115 case 7:
salco 27:ea60d12dccdf 1116 m_posLeg[0] = 173;
salco 27:ea60d12dccdf 1117 break;
salco 27:ea60d12dccdf 1118 case 8:
salco 27:ea60d12dccdf 1119 m_posLeg[0] = 123;
salco 27:ea60d12dccdf 1120 break;
salco 27:ea60d12dccdf 1121 }
salco 27:ea60d12dccdf 1122 break;
salco 27:ea60d12dccdf 1123
salco 27:ea60d12dccdf 1124 case 33:
salco 27:ea60d12dccdf 1125 if(idLeg == 4) m_posLeg[0] = 150;
salco 27:ea60d12dccdf 1126 break;
salco 27:ea60d12dccdf 1127
salco 27:ea60d12dccdf 1128 /*case 38:
salco 27:ea60d12dccdf 1129 if(idLeg == 5) m_posLeg[0] = 165;
salco 27:ea60d12dccdf 1130 break;
salco 27:ea60d12dccdf 1131
salco 27:ea60d12dccdf 1132 case 42:
salco 27:ea60d12dccdf 1133 if(idLeg == 1) m_posLeg[0] = 165;
salco 27:ea60d12dccdf 1134 break;*/
salco 27:ea60d12dccdf 1135 }
salco 25:f3bd72f1dd8d 1136 } else
salco 25:f3bd72f1dd8d 1137 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 25:f3bd72f1dd8d 1138 }
salco 25:f3bd72f1dd8d 1139 }
salco 0:e4151abdff23 1140 void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
salco 22:a2c875629f2d 1141 {
salco 27:ea60d12dccdf 1142 if(idOperation <= SIZE_SEQREPOSITIONNE) {
salco 27:ea60d12dccdf 1143 m_posLeg[0]= 255;
salco 27:ea60d12dccdf 1144 delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
salco 22:a2c875629f2d 1145 if(m_idLegUse == idLeg) {
salco 22:a2c875629f2d 1146 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqRepositionne[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 1147
salco 27:ea60d12dccdf 1148 timeSequence[idLeg-1] = table_seqRepositionne_PAUSE_TIME[idOperation-1][1];
salco 22:a2c875629f2d 1149
salco 22:a2c875629f2d 1150 if(idOperation == 5) {
salco 22:a2c875629f2d 1151 switch(idLeg) {
salco 22:a2c875629f2d 1152 case 1:
salco 22:a2c875629f2d 1153 m_posLeg[0] = 137;
salco 22:a2c875629f2d 1154 break;
salco 22:a2c875629f2d 1155 case 2:
salco 22:a2c875629f2d 1156 m_posLeg[0] = 165;
salco 22:a2c875629f2d 1157 break;
salco 22:a2c875629f2d 1158 case 3:
salco 22:a2c875629f2d 1159 m_posLeg[0] = 160;
salco 22:a2c875629f2d 1160 break;
salco 22:a2c875629f2d 1161 case 4:
salco 22:a2c875629f2d 1162 m_posLeg[0] = 150;
salco 22:a2c875629f2d 1163 break;
salco 22:a2c875629f2d 1164 case 5:
salco 22:a2c875629f2d 1165 m_posLeg[0] = 153;
salco 22:a2c875629f2d 1166 break;
salco 22:a2c875629f2d 1167 case 6:
salco 22:a2c875629f2d 1168 m_posLeg[0] = 133;
salco 22:a2c875629f2d 1169 break;
salco 22:a2c875629f2d 1170 case 7:
salco 22:a2c875629f2d 1171 m_posLeg[0] = 170;
salco 22:a2c875629f2d 1172 break;
salco 22:a2c875629f2d 1173 case 8:
salco 22:a2c875629f2d 1174 m_posLeg[0] = 144;
salco 22:a2c875629f2d 1175 break;
salco 22:a2c875629f2d 1176 }
salco 22:a2c875629f2d 1177 }
salco 22:a2c875629f2d 1178
salco 22:a2c875629f2d 1179 } else
salco 27:ea60d12dccdf 1180 for(int i=0; i < 4; i++)m_posLeg[i]=255;
salco 27:ea60d12dccdf 1181
salco 22:a2c875629f2d 1182 } else
salco 27:ea60d12dccdf 1183 for(int i=0; i < 4; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 1184 }
salco 0:e4151abdff23 1185 void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg)
salco 21:5c17b7836733 1186 {
salco 27:ea60d12dccdf 1187 if(idOperation<=SIZE_SEQCRABE) {
salco 27:ea60d12dccdf 1188 m_posLeg[0]= 255;
salco 27:ea60d12dccdf 1189 delaisNeed = 300;//DELAITESTE;//(table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
salco 27:ea60d12dccdf 1190 timeSequence[idLeg-1] = 30;
salco 22:a2c875629f2d 1191 if(leftRIGHT)
salco 27:ea60d12dccdf 1192 idOperation=SIZE_SEQCRABE-idOperation;
salco 22:a2c875629f2d 1193
salco 21:5c17b7836733 1194 switch(idLeg) { //moving hips
salco 21:5c17b7836733 1195 case 1:
salco 21:5c17b7836733 1196 m_posLeg[0] = 140;
salco 21:5c17b7836733 1197 break;
salco 21:5c17b7836733 1198 case 2:
salco 21:5c17b7836733 1199 m_posLeg[0] = 165;
salco 21:5c17b7836733 1200 break;
salco 21:5c17b7836733 1201 case 3:
salco 21:5c17b7836733 1202 m_posLeg[0] = 160;
salco 21:5c17b7836733 1203 break;
salco 21:5c17b7836733 1204 case 6:
salco 21:5c17b7836733 1205 m_posLeg[0] = 133;
salco 21:5c17b7836733 1206 break;
salco 21:5c17b7836733 1207 case 7:
salco 21:5c17b7836733 1208 m_posLeg[0] = 170;
salco 21:5c17b7836733 1209 break;
salco 21:5c17b7836733 1210 default:
salco 21:5c17b7836733 1211 m_posLeg[0] = 150;
salco 21:5c17b7836733 1212 break;
salco 21:5c17b7836733 1213 }
salco 22:a2c875629f2d 1214
salco 21:5c17b7836733 1215 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqCrabe[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 1216
salco 22:a2c875629f2d 1217
salco 21:5c17b7836733 1218 //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 22:a2c875629f2d 1219 } else
salco 22:a2c875629f2d 1220 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 1221
salco 22:a2c875629f2d 1222
salco 21:5c17b7836733 1223 }
salco 27:ea60d12dccdf 1224 void homemadeSequence::defaultPosition(char idLeg)
salco 27:ea60d12dccdf 1225 {
salco 27:ea60d12dccdf 1226 if(m_idFrame == 1) {
salco 27:ea60d12dccdf 1227 timeSequence[idLeg-1] = 50;
salco 27:ea60d12dccdf 1228 for(int i=0;i<4;i++) m_posLeg[i]=table_seqDefaultPos[idLeg-1][i];
salco 27:ea60d12dccdf 1229 }
salco 27:ea60d12dccdf 1230 else
salco 27:ea60d12dccdf 1231 for(int i=0;i<4;i++) m_posLeg[i]= 0;
salco 27:ea60d12dccdf 1232 }
salco 0:e4151abdff23 1233 bool homemadeSequence::next_frame(void)
salco 0:e4151abdff23 1234 {
salco 19:0ac80045ba4c 1235 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame");
salco 27:ea60d12dccdf 1236 bool result=false;
salco 19:0ac80045ba4c 1237 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 27:ea60d12dccdf 1238 int tmpDelais=delaisNeed;
salco 22:a2c875629f2d 1239
salco 19:0ac80045ba4c 1240 //if(m_idFrame > 1){
salco 0:e4151abdff23 1241 m_idFrame++;
salco 19:0ac80045ba4c 1242 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 1243
salco 27:ea60d12dccdf 1244 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r Leg1:");
salco 27:ea60d12dccdf 1245 for(int i=0; i<4; i++)debug(DEBUG_HOMEMADE_NEXTFRAME,"[%i]",tmpTable[i]);
salco 27:ea60d12dccdf 1246
salco 22:a2c875629f2d 1247 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
salco 27:ea60d12dccdf 1248 result=true;
salco 22:a2c875629f2d 1249 //m_idFrame++;//get_frame(m_idFrame);
salco 27:ea60d12dccdf 1250 /*if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
salco 22:a2c875629f2d 1251 delaisNextSeq.reset();
salco 27:ea60d12dccdf 1252 delaisNeed=-1;*/
salco 27:ea60d12dccdf 1253 for(int i=0; i<8; i++)timeSequence[i]=255;
salco 27:ea60d12dccdf 1254 //} else
salco 27:ea60d12dccdf 1255 // m_idFrame--;
salco 22:a2c875629f2d 1256 } else
salco 19:0ac80045ba4c 1257 m_idFrame--;
salco 19:0ac80045ba4c 1258
salco 19:0ac80045ba4c 1259 //}
salco 19:0ac80045ba4c 1260 //}
salco 27:ea60d12dccdf 1261 delaisNeed=tmpDelais;
salco 27:ea60d12dccdf 1262
salco 19:0ac80045ba4c 1263 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 1264 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame");
salco 22:a2c875629f2d 1265
salco 27:ea60d12dccdf 1266 return result;
salco 0:e4151abdff23 1267 }
salco 19:0ac80045ba4c 1268 bool homemadeSequence::prev_frame(void) //true == prev is ok
salco 0:e4151abdff23 1269 {
salco 19:0ac80045ba4c 1270 //false == impossible
salco 19:0ac80045ba4c 1271 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame");
salco 27:ea60d12dccdf 1272 bool result=false;
salco 19:0ac80045ba4c 1273 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 1274
salco 22:a2c875629f2d 1275
salco 19:0ac80045ba4c 1276 if(m_idFrame > 1) {
salco 19:0ac80045ba4c 1277 m_idFrame--;
salco 19:0ac80045ba4c 1278 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 1279
salco 22:a2c875629f2d 1280 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
salco 27:ea60d12dccdf 1281 result=true;
salco 22:a2c875629f2d 1282 //m_idFrame++;//get_frame(m_idFrame);
salco 27:ea60d12dccdf 1283 /*if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
salco 27:ea60d12dccdf 1284 delaisNextSeq.reset();*/
salco 27:ea60d12dccdf 1285 delaisNeed=-1;
salco 27:ea60d12dccdf 1286 for(int i=0; i<8; i++)timeSequence[i]=255;
salco 27:ea60d12dccdf 1287 //} else
salco 27:ea60d12dccdf 1288 // m_idFrame++;
salco 22:a2c875629f2d 1289 } else
salco 19:0ac80045ba4c 1290 m_idFrame++;
salco 19:0ac80045ba4c 1291
salco 19:0ac80045ba4c 1292 //}
salco 19:0ac80045ba4c 1293 }
salco 19:0ac80045ba4c 1294 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 1295 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame");
salco 22:a2c875629f2d 1296
salco 27:ea60d12dccdf 1297 return result;
salco 0:e4151abdff23 1298 }