Alexandre Salconi-Denis
Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
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
Diff: source/Motrice/homemadeSequence.cpp
- Revision:
- 26:15cb45d56c28
- Parent:
- 25:f3bd72f1dd8d
- Child:
- 27:ea60d12dccdf
--- a/source/Motrice/homemadeSequence.cpp Fri May 08 22:01:07 2015 +0000
+++ b/source/Motrice/homemadeSequence.cpp Mon May 11 13:48:38 2015 +0000
@@ -248,15 +248,15 @@
/*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167}
}
};
-unsigned char table_seqFoward_PAUSE_TIME[41][2] = {
- { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 61, 50},
+unsigned char table_seqFoward_PAUSE_TIME[42][2] = {
+ { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 0, 45},{ 61, 50},
{ 21, 20},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},
{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 50},{ 21, 20},{ 41, 45},
{ 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50},
{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50},
{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}
};
-unsigned char table_seqFoward[41][8][3] = {
+unsigned char table_seqFoward[42][8][3] = {
{ /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
/*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}
},
@@ -287,6 +287,9 @@
{ /* 0*/{127,186,156}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255},
/*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{179, 81,167}
},
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
/*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
},
@@ -822,6 +825,73 @@
timeSequence[idLeg-1] = table_seqFoward_PAUSE_TIME[idOperation-1][1];
//manque qqch ici
+ switch(idOperation)
+ {
+ case 3:
+ if(idLeg == 1) m_posLeg[0] = 150;
+ else if(idLeg == 6) m_posLeg[0] = 123;
+ break;
+
+ case 5:
+ if((idLeg ==1) || (idLeg==6))
+ timeSequence[idLeg-1] = 30;
+ break;
+
+ case 7:
+ if(idLeg == 3)m_posLeg[0] = 187;
+ else if(idLeg == 8) m_posLeg[0] = 123;
+ break;
+
+ case 11:
+ switch(idLeg)
+ {
+ case 1:
+ m_posLeg[0] = 130;
+ break;
+ case 2:
+ m_posLeg[0] = 140;
+ break;
+ case 3:
+ m_posLeg[0] = 160;
+ break;
+ case 4:
+ m_posLeg[0] = 117;
+ break;
+ case 5:
+ m_posLeg[0] = 179;
+ break;
+ case 6:
+ m_posLeg[0] = 134;
+ break;
+ case 7:
+ m_posLeg[0] = 183;
+ break;
+ case 8:
+ m_posLeg[0] = 144;
+ break;
+ }
+ break;
+
+ case 16:
+ if(idLeg == 1) m_posLeg[0] = 137;
+ break;
+
+ case 20:
+ if(idLeg == 5) m_posLeg[0] = 176;
+ else if(idLeg == 7) m_posLeg[0] = 160;
+ break;
+
+ case 22:
+ if((idLeg ==2) || (idLeg==7))
+ timeSequence[idLeg-1] = 30;
+ break;
+
+ case 24:
+ if(idLeg == 4) m_posLeg[0] = 177;
+ else if(idLeg == 5) m_posLeg[0] = 133;
+ break;
+
+ }
} else
for(int i=0; i <= 3; i++) m_posLeg[i]=0;