Diff: source/motrice/Patte.h

Revision:

1:25ea21da4542

Parent:

0:e4151abdff23

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/motrice/Patte.h	Wed Mar 11 21:57:26 2015 +0000
@@ -0,0 +1,246 @@
+/*
+ * Patte.h
+ *
+ *  Created on: Mar 03, 2015
+ *      Author: salco
+ */
+#ifndef PATTE_H_
+#define PATTE_H_
+
+#define NBR_SERVO 32
+#define DEFAULTPOSITION 150
+#define DEFAULTMAX 225
+#define DEFAULTMIN 75
+
+//#include <string>
+#include <stdio.h>
+
+struct servo_t {
+    char iD; //use for ssc-32
+    // all value down is a pulse value between 750-2250 //
+    unsigned char basePose;
+    unsigned char max;
+    unsigned char min;
+    // mabey change curr for a integer to get more precision and less space //
+    unsigned char curr;
+};
+
+class Patte
+{
+    // number related to the SSC-32 //
+    /*char m_numServo_Coxa;
+    char m_numServo_Femur;
+    char m_numServo_Tibia;
+    char m_numServo_Tars;*/
+    char m_id;
+    servo_t m_Coxa;
+    servo_t m_Femur;
+    servo_t m_Tibia;
+    servo_t m_Tars;
+    char buffer [50];
+    
+public:
+    Patte(char patteId,char coxaId,char femurId,char tibiaId,char tarsId) {
+        m_id = patteId;
+
+        m_Coxa.iD  = coxaId;
+        m_Coxa.max = DEFAULTMAX;
+        m_Coxa.min = DEFAULTMIN;
+        m_Coxa.curr= DEFAULTPOSITION;
+
+        m_Femur.iD  = femurId;
+        m_Femur.max = DEFAULTMAX;
+        m_Femur.min = DEFAULTMIN;
+        m_Femur.curr= DEFAULTPOSITION;
+
+        m_Tibia.iD  = tibiaId;
+        m_Tibia.max = DEFAULTMAX;
+        m_Tibia.min = DEFAULTMIN;
+        m_Tibia.curr= DEFAULTPOSITION;
+
+        m_Tars.iD  = tarsId;
+        m_Tars.max = DEFAULTMAX;
+        m_Tars.min = DEFAULTMIN;
+        m_Tars.curr= DEFAULTPOSITION;
+    }
+    virtual ~Patte(){}
+    char id(void) {
+        return m_id;
+    }
+    const char* toString(void){
+       
+       sprintf (buffer,"#%d P%d #%d P%d #%d P%d #%d P%d",m_Coxa.iD,m_Coxa.curr,m_Femur.iD,m_Femur.curr,m_Tibia.iD,m_Tibia.curr,m_Tars.iD,m_Tars.curr);
+       return buffer;
+        }
+    //setting Coxa //
+    void set_Id_Coxa(char id) {
+        m_Coxa.iD = id;
+    }
+    void set_PulseMax_Coxa(unsigned char value) {
+        m_Coxa.max = value;
+    }
+    void set_PulseMin_Coxa(unsigned char value) {
+        m_Coxa.min = value;
+    }
+    void set_DefaultPulse_Coxa(unsigned char value) {
+        m_Coxa.basePose = value;
+    }
+    char get_Id_Coxa(void) {
+        return m_Coxa.iD;
+    }
+    unsigned char get_PulseMax_Coxa(void) {
+        return m_Coxa.max;
+    }
+    unsigned char get_PulseMin_Coxa(void) {
+        return m_Coxa.min;
+    }
+    unsigned char get_DefaultPulse_Coxa(void) {
+        return m_Coxa.basePose;
+    }
+    unsigned char get_CurrentPulse_Coxa(void) {
+        return m_Coxa.curr;
+    }
+    //setting Femur //
+    void set_Id_Femur(char id) {
+        m_Femur.iD = id;
+    }
+    void set_PulseMax_Femur(unsigned char value) {
+        m_Femur.max = value;
+    }
+    void set_PulseMin_Femur(unsigned char value) {
+        m_Femur.min = value;
+    }
+    void set_DefaultPulse_Femur(unsigned char value) {
+        m_Femur.basePose = value;
+    }
+    char get_Id_Femur(void) {
+        return m_Femur.iD;
+    }
+    unsigned char get_PulseMax_Femur(void) {
+        return m_Femur.max;
+    }
+    unsigned char get_PulseMin_Femur(void) {
+        return m_Femur.min;
+    }
+    unsigned char get_DefaultPulse_Femur(void) {
+        return m_Femur.basePose;
+    }
+    unsigned char get_CurrentPulse_Femur(void) {
+        return m_Femur.curr;
+    }
+    //setting Tibia //
+    void set_Id_Tibia(char id) {
+        m_Tibia.iD = id;
+    }
+    void set_PulseMax_Tibia(unsigned char value) {
+        m_Tibia.max = value;
+    }
+    void set_PulseMin_Tibia(unsigned char value) {
+        m_Tibia.min = value;
+    }
+    void set_DefaultPulse_Tibia(unsigned char value) {
+        m_Tibia.basePose = value;
+    }
+    char get_Id_Tibia(void) {
+        return m_Tibia.iD;
+    }
+    unsigned char get_PulseMax_Tibia(void) {
+        return m_Tibia.max;
+    }
+    unsigned char get_PulseMin_Tibia(void) {
+        return m_Tibia.min;
+    }
+    unsigned char get_DefaultPulse_Tibia(void) {
+        return m_Tibia.basePose;
+    }
+    unsigned char get_CurrentPulse_Tibia(void) {
+        return m_Tibia.curr;
+    }
+    //setting Tars //
+    void set_Id_Tars(char id) {
+        m_Tars.iD = id;
+    }
+    void set_PulseMax_Tars(unsigned char value) {
+        m_Tars.max = value;
+    }
+    void set_PulseMin_Tars(unsigned char value) {
+        m_Tars.min = value;
+    }
+    void set_DefaultPulse_Tars(unsigned char value) {
+        m_Tars.basePose = value;
+    }
+    char get_Id_Tars(void) {
+        return m_Tars.iD;
+    }
+    unsigned char get_PulseMax_Tars(void) {
+        return m_Tars.max;
+    }
+    unsigned char get_PulseMin_Tars(void) {
+        return m_Tars.min;
+    }
+    unsigned char get_DefaultPulse_Tars(void) {
+        return m_Tars.basePose;
+    }
+    unsigned char get_CurrentPulse_Tars(void) {
+        return m_Tars.curr;
+    }
+    //setting All-in-one //
+    void set_Id(char coxaId,char femurId,char tibiaId,char tarsId) {
+        m_Coxa.iD = coxaId;
+        m_Femur.iD= femurId;
+        m_Tibia.iD= tibiaId;
+        m_Tars.iD = tarsId;
+    }
+    void set_PulseMax(unsigned char coxaValue,unsigned char femurValue,
+                      unsigned char tibiaValue,unsigned char tarsValue) {
+        m_Coxa.max = coxaValue;
+        m_Femur.max= femurValue;
+        m_Tibia.max= tibiaValue;
+        m_Tars.max = tarsValue;
+    }
+    void set_PulseMin(unsigned char coxaValue,unsigned char femurValue,
+                      unsigned char tibiaValue,unsigned char tarsValue) {
+        m_Coxa.min = coxaValue;
+        m_Femur.min= femurValue;
+        m_Tibia.min= tibiaValue;
+        m_Tars.min = tarsValue;
+    }
+    void set_DefaultPulse(unsigned char coxaValue,unsigned char femurValue,
+                          unsigned char tibiaValue,unsigned char tarsValue) {
+        m_Coxa.basePose = coxaValue;
+        m_Femur.basePose= femurValue;
+        m_Tibia.basePose= tibiaValue;
+        m_Tars.basePose = tarsValue;
+    }
+    //////////
+    // Move //
+    //////////
+    void move_Coxa(unsigned char value) {
+        if((value >= m_Coxa.min)&&(value <= m_Coxa.max ))
+            m_Coxa.curr = value;
+    }
+    void move_Femur(unsigned char value) {
+        if((value >= m_Femur.min)&&(value <= m_Femur.max ))
+            m_Femur.curr = value;
+    }
+    void move_Tibia(unsigned char value) {
+        if((value >= m_Tibia.min)&&(value <= m_Tibia.max ))
+            m_Tibia.curr = value;
+    }
+    void move_Tars(unsigned char value) {
+        if((value >= m_Tars.min)&&(value <= m_Tars.max ))
+            m_Tars.curr = value;
+    }
+    void move(unsigned char coxaValue,unsigned char femurValue,
+              unsigned char tibiaValue,unsigned char tarsValue) {
+        if((coxaValue >= m_Coxa.min)&&(coxaValue <= m_Coxa.max ))
+            m_Coxa.curr = coxaValue;
+        if((femurValue >= m_Femur.min)&&(femurValue <= m_Femur.max ))
+            m_Femur.curr = femurValue;
+        if((tibiaValue >= m_Tibia.min)&&(tibiaValue <= m_Tibia.max ))
+            m_Tibia.curr = tibiaValue;
+        if((tarsValue >= m_Tars.min)&&(tarsValue <= m_Tars.max ))
+            m_Tars.curr = tarsValue;
+    }
+};
+#endif /* PATTE_H_ */
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