Diff: source/mouvement.cpp

Revision:

0:e4151abdff23

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/mouvement.cpp	Tue Mar 10 12:49:59 2015 +0000
@@ -0,0 +1,133 @@
+/*
+ * mouvement.cpp
+ *
+ *  Created on: Mar 02, 2015
+ *      Author: salco
+ */
+#include "mouvement.h"
+
+Faculter_motrice::Faculter_motrice(Serial* com):m_com(com)
+{
+    m_seq = new homemadeSequence();
+
+    m_arr_D     = new Patte(1,0,1,2,3);
+    m_arr_mil_D = new Patte(2,4,5,6,7);
+    m_arr_G     = new Patte(3,16,17,18,19);
+    m_arr_mil_G = new Patte(4,20,21,22,23);
+    m_avv_D     = new Patte(5,12,13,14,15);
+    m_avv_mil_D = new Patte(6,8,9,10,11);
+    m_avv_G     = new Patte(7,28,29,30,31);
+    m_avv_mil_G = new Patte(8,24,25,26,27);
+
+    m_SequenceID_arr_D     =0;
+    m_SequenceID_arr_mil_D =0;
+    m_SequenceID_arr_G     =0;
+    m_SequenceID_arr_mil_G =0;
+    m_SequenceID_avv_D     =0;
+    m_SequenceID_avv_mil_D =0;
+    m_SequenceID_avv_G     =0;
+    m_SequenceID_avv_mil_G =0;
+
+    m_ForceStop    = false;
+    m_CriticalStop = false;
+}
+Faculter_motrice::~Faculter_motrice()
+{
+    if(m_seq)
+        delete m_seq;
+    if (m_arr_D)
+        delete m_arr_D;
+    if (m_arr_mil_D)
+        delete m_arr_mil_D;
+    if (m_arr_G)
+        delete m_arr_G;
+    if (m_arr_mil_G)
+        delete m_arr_mil_G;
+
+    if (m_avv_D)
+        delete m_avv_D;
+    if (m_avv_mil_D)
+        delete m_avv_mil_D;
+    if (m_avv_G)
+        delete m_avv_G;
+    if (m_avv_mil_G)
+        delete m_avv_mil_G;
+    return;
+}
+void Faculter_motrice::exec(void)
+{
+#ifdef DEBUG
+    m_com->printf("Flag in exec [%i  :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence());
+#endif
+    if((!m_ForceStop)&&(m_seq->get_Sequence() != 0)) {
+        unsigned char* tempLeg;
+
+
+
+        switch(m_seq->get_Sequence()) {
+            case 1:
+                tempLeg=m_seq->get_frame(m_arr_D->id());
+                m_arr_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
+                //...//
+                if(m_seq->next_frame() == false) {
+                    m_ForceStop=true;
+#ifdef DEBUG
+                    m_com->printf("    Flag next impossible \n\r",m_ForceStop,m_seq->get_Sequence());
+#endif
+                }
+                #ifdef DEBUG
+                else
+                    m_com->printf("    Flag next possible \n\r",m_ForceStop,m_seq->get_Sequence());
+#endif
+                break;
+        }
+        //char buffer[50];
+        //scanf(buffer,"%s T%d\n\r",m_arr_D->toString(),DELAITESTE);
+        m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE);
+
+        /*
+                    tempLeg=m_seq->get_frame(m_arr_D->id());
+        m_com->printf("This program is %d .\n", tempLeg[0]);*/
+    }
+#ifdef DEBUG
+    m_com->printf("Flag out exec [%i  :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence());
+#endif
+}
+/*void Faculter_motrice::moveLeft (void)
+{
+    m_seq->set_Sequence(9);
+}
+void Faculter_motrice::moveRight(void)
+{
+
+}
+void Faculter_motrice::moveUp   (void)
+{
+
+}
+void Faculter_motrice::moveDown (void)
+{
+
+}
+void Faculter_motrice::moveFront(void)
+{
+
+}
+void Faculter_motrice::moveBack (void)
+{
+
+}
+void Faculter_motrice::turnLeft (void)
+{
+
+}
+void Faculter_motrice::trunRight(void)
+{
+
+}*/
+void Faculter_motrice::crit_stop(void)
+{
+    m_com->printf("#0L #1L #2L #3L #4L #5L #6L #7L #8L #9L #10L #11L #12L #13L #14L #15L #16L #17L #18L #19L #20L #21L #22L #23L #24L #25L #26L #27L #28L #29L #30L #31L #32L\n\r");
+    m_ForceStop=true;
+    m_CriticalStop=true;
+}
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