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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
source/Motrice/homemadeSequence.cpp@19:0ac80045ba4c, 2015-04-27 (annotated)
- Committer:
- salco
- Date:
- Mon Apr 27 20:41:21 2015 +0000
- Revision:
- 19:0ac80045ba4c
- Parent:
- 2:4c5b0f6d0a6b
- Child:
- 20:c825e7b07af7
modification de homemade s?quence pour simplifier le codage et la modification future des s?quence si besoin est.
Who changed what in which revision?
User | Revision | Line number | New 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 | 19:0ac80045ba4c | 8 | unsigned char table_seqUp[9][2][3] = { { {80 , 210, 160}, {220, 90 , 114} }, |
salco | 19:0ac80045ba4c | 9 | { {80 , 220, 170}, {220, 80 , 130} }, |
salco | 19:0ac80045ba4c | 10 | { {90 , 220, 160}, {200, 80 , 140} }, |
salco | 19:0ac80045ba4c | 11 | { {106, 220, 150}, {194, 80 , 150} }, |
salco | 19:0ac80045ba4c | 12 | { {128, 220, 127}, {172, 80 , 173} }, |
salco | 19:0ac80045ba4c | 13 | { {144, 205, 130}, {156, 95 , 170} }, |
salco | 19:0ac80045ba4c | 14 | { {144, 210, 123}, {156, 89 , 177} }, |
salco | 19:0ac80045ba4c | 15 | { {172, 185, 124}, {128, 115, 176} }, |
salco | 19:0ac80045ba4c | 16 | { {194, 166, 118}, {106, 134, 182} } }; |
salco | 19:0ac80045ba4c | 17 | |
salco | 19:0ac80045ba4c | 18 | unsigned char table_seqDown[9][2][3] = { { {172, 185, 124}, {128, 115, 176} }, |
salco | 19:0ac80045ba4c | 19 | { {172, 185, 124}, {128, 115, 176} }, |
salco | 19:0ac80045ba4c | 20 | { {144, 210, 123}, {156, 89 , 177} }, |
salco | 19:0ac80045ba4c | 21 | { {144, 205, 130}, {156, 95 , 170} }, |
salco | 19:0ac80045ba4c | 22 | { {128, 220, 127}, {172, 80 , 173} }, |
salco | 19:0ac80045ba4c | 23 | { {106, 220, 150}, {194, 80 , 150} }, |
salco | 19:0ac80045ba4c | 24 | { {90 , 220, 160}, {200, 80 , 140} }, |
salco | 19:0ac80045ba4c | 25 | { {80 , 220, 170}, {220, 80 , 130} }, |
salco | 19:0ac80045ba4c | 26 | { {80 , 100, 150}, {220, 200, 150} } };//fin de la seq il met ses patte sur sa tete** |
salco | 19:0ac80045ba4c | 27 | /*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 | 28 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 29 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 30 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 31 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 32 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 33 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 34 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 35 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 36 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 37 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 38 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 39 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 40 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 41 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 42 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 43 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 44 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/ |
salco | 0:e4151abdff23 | 45 | homemadeSequence::homemadeSequence() |
salco | 0:e4151abdff23 | 46 | { |
salco | 19:0ac80045ba4c | 47 | m_SequenceChosen=0; |
salco | 19:0ac80045ba4c | 48 | m_idFrame=0; |
salco | 0:e4151abdff23 | 49 | } |
salco | 0:e4151abdff23 | 50 | homemadeSequence::~homemadeSequence() |
salco | 0:e4151abdff23 | 51 | { |
salco | 0:e4151abdff23 | 52 | |
salco | 0:e4151abdff23 | 53 | } |
salco | 0:e4151abdff23 | 54 | unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg) |
salco | 0:e4151abdff23 | 55 | { |
salco | 19:0ac80045ba4c | 56 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame"); |
salco | 0:e4151abdff23 | 57 | m_posLeg[0] = 0; |
salco | 0:e4151abdff23 | 58 | m_posLeg[1] = 0; |
salco | 0:e4151abdff23 | 59 | m_posLeg[2] = 0; |
salco | 0:e4151abdff23 | 60 | m_posLeg[3] = 0; |
salco | 19:0ac80045ba4c | 61 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg); |
salco | 19:0ac80045ba4c | 62 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen); |
salco | 19:0ac80045ba4c | 63 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame); |
salco | 0:e4151abdff23 | 64 | switch(m_SequenceChosen) { |
salco | 0:e4151abdff23 | 65 | case 1:// 01 - Calibration(milieu) // |
salco | 0:e4151abdff23 | 66 | if(m_idFrame == 1) {//if(idOperation == 1) { |
salco | 0:e4151abdff23 | 67 | m_posLeg[0] = 150; |
salco | 0:e4151abdff23 | 68 | m_posLeg[1] = 150; |
salco | 0:e4151abdff23 | 69 | m_posLeg[2] = 150; |
salco | 0:e4151abdff23 | 70 | m_posLeg[3] = 150; |
salco | 19:0ac80045ba4c | 71 | } else { |
salco | 19:0ac80045ba4c | 72 | m_posLeg[0] = 0; |
salco | 19:0ac80045ba4c | 73 | m_posLeg[1] = 0; |
salco | 19:0ac80045ba4c | 74 | m_posLeg[2] = 0; |
salco | 19:0ac80045ba4c | 75 | m_posLeg[3] = 0; |
salco | 0:e4151abdff23 | 76 | } |
salco | 0:e4151abdff23 | 77 | break; |
salco | 0:e4151abdff23 | 78 | |
salco | 0:e4151abdff23 | 79 | case 2:// 02 - Debout // |
salco | 0:e4151abdff23 | 80 | seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg); |
salco | 0:e4151abdff23 | 81 | break; |
salco | 0:e4151abdff23 | 82 | case 3:// 03 - Coucher // |
salco | 0:e4151abdff23 | 83 | seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg); |
salco | 0:e4151abdff23 | 84 | break; |
salco | 0:e4151abdff23 | 85 | case 4:// 04 - Tourne Gauche // |
salco | 0:e4151abdff23 | 86 | break; |
salco | 0:e4151abdff23 | 87 | case 5:// 05 - Tourne Droite // |
salco | 0:e4151abdff23 | 88 | break; |
salco | 0:e4151abdff23 | 89 | case 6:// 06 - Marche // |
salco | 0:e4151abdff23 | 90 | break; |
salco | 0:e4151abdff23 | 91 | case 7:// 07 - Recule // |
salco | 0:e4151abdff23 | 92 | break; |
salco | 0:e4151abdff23 | 93 | case 8:// 07 - Repositioner // |
salco | 0:e4151abdff23 | 94 | break; |
salco | 0:e4151abdff23 | 95 | case 9:// 09 - Crabe Gauche // |
salco | 0:e4151abdff23 | 96 | break; |
salco | 0:e4151abdff23 | 97 | case 10:// 10 - Crabe Droite // |
salco | 0:e4151abdff23 | 98 | break; |
salco | 0:e4151abdff23 | 99 | } |
salco | 19:0ac80045ba4c | 100 | 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 | 19:0ac80045ba4c | 101 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame"); |
salco | 0:e4151abdff23 | 102 | return m_posLeg; |
salco | 0:e4151abdff23 | 103 | } |
salco | 0:e4151abdff23 | 104 | |
salco | 0:e4151abdff23 | 105 | void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg) |
salco | 0:e4151abdff23 | 106 | { |
salco | 0:e4151abdff23 | 107 | if((idOperation<10)&&(idOperation>0)) { |
salco | 19:0ac80045ba4c | 108 | switch(idLeg) { //moving hips |
salco | 0:e4151abdff23 | 109 | case 1: |
salco | 0:e4151abdff23 | 110 | m_posLeg[0] = 140; |
salco | 0:e4151abdff23 | 111 | break; |
salco | 0:e4151abdff23 | 112 | case 2: |
salco | 0:e4151abdff23 | 113 | m_posLeg[0] = 165; |
salco | 0:e4151abdff23 | 114 | break; |
salco | 0:e4151abdff23 | 115 | case 3: |
salco | 0:e4151abdff23 | 116 | m_posLeg[0] = 160; |
salco | 0:e4151abdff23 | 117 | break; |
salco | 0:e4151abdff23 | 118 | case 6: |
salco | 0:e4151abdff23 | 119 | m_posLeg[0] = 133; |
salco | 0:e4151abdff23 | 120 | break; |
salco | 0:e4151abdff23 | 121 | case 7: |
salco | 0:e4151abdff23 | 122 | m_posLeg[0] = 170; |
salco | 0:e4151abdff23 | 123 | break; |
salco | 0:e4151abdff23 | 124 | default: |
salco | 0:e4151abdff23 | 125 | m_posLeg[0] = 150; |
salco | 0:e4151abdff23 | 126 | break; |
salco | 0:e4151abdff23 | 127 | } |
salco | 19:0ac80045ba4c | 128 | if(downUP) |
salco | 19:0ac80045ba4c | 129 | { |
salco | 19:0ac80045ba4c | 130 | if(idLeg<5) |
salco | 19:0ac80045ba4c | 131 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1]; |
salco | 19:0ac80045ba4c | 132 | else |
salco | 19:0ac80045ba4c | 133 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1]; |
salco | 19:0ac80045ba4c | 134 | } |
salco | 19:0ac80045ba4c | 135 | else |
salco | 19:0ac80045ba4c | 136 | { |
salco | 19:0ac80045ba4c | 137 | if(idLeg<5) |
salco | 19:0ac80045ba4c | 138 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1]; |
salco | 19:0ac80045ba4c | 139 | else |
salco | 19:0ac80045ba4c | 140 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1]; |
salco | 19:0ac80045ba4c | 141 | } |
salco | 19:0ac80045ba4c | 142 | /*if(idOperation == 1) { |
salco | 0:e4151abdff23 | 143 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 144 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 145 | m_posLeg[2] = 210; |
salco | 0:e4151abdff23 | 146 | m_posLeg[3] = 160; |
salco | 0:e4151abdff23 | 147 | } else { |
salco | 0:e4151abdff23 | 148 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 149 | m_posLeg[2] = 90; |
salco | 0:e4151abdff23 | 150 | m_posLeg[3] = 114; |
salco | 0:e4151abdff23 | 151 | } |
salco | 0:e4151abdff23 | 152 | |
salco | 0:e4151abdff23 | 153 | } else { |
salco | 0:e4151abdff23 | 154 | if(!downUP) { |
salco | 0:e4151abdff23 | 155 | if(idOperation == 9) { |
salco | 0:e4151abdff23 | 156 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 157 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 158 | m_posLeg[2] = 100; |
salco | 0:e4151abdff23 | 159 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 160 | } else { |
salco | 0:e4151abdff23 | 161 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 162 | m_posLeg[2] = 200; |
salco | 0:e4151abdff23 | 163 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 164 | } |
salco | 0:e4151abdff23 | 165 | } |
salco | 0:e4151abdff23 | 166 | idOperation = 10 - idOperation; |
salco | 0:e4151abdff23 | 167 | } |
salco | 0:e4151abdff23 | 168 | |
salco | 0:e4151abdff23 | 169 | switch(idOperation) { |
salco | 19:0ac80045ba4c | 170 | case 1: |
salco | 0:e4151abdff23 | 171 | |
salco | 19:0ac80045ba4c | 172 | break; |
salco | 0:e4151abdff23 | 173 | case 2: |
salco | 0:e4151abdff23 | 174 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 175 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 176 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 177 | m_posLeg[3] = 170; |
salco | 0:e4151abdff23 | 178 | } else { |
salco | 0:e4151abdff23 | 179 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 180 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 181 | m_posLeg[3] = 130; |
salco | 0:e4151abdff23 | 182 | } |
salco | 0:e4151abdff23 | 183 | break; |
salco | 0:e4151abdff23 | 184 | case 3: |
salco | 0:e4151abdff23 | 185 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 186 | m_posLeg[1] = 90; |
salco | 0:e4151abdff23 | 187 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 188 | m_posLeg[3] = 160; |
salco | 0:e4151abdff23 | 189 | } else { |
salco | 0:e4151abdff23 | 190 | m_posLeg[1] = 200; |
salco | 0:e4151abdff23 | 191 | m_posLeg[2] = 200; |
salco | 0:e4151abdff23 | 192 | m_posLeg[3] = 140; |
salco | 0:e4151abdff23 | 193 | } |
salco | 0:e4151abdff23 | 194 | break; |
salco | 0:e4151abdff23 | 195 | case 4: |
salco | 0:e4151abdff23 | 196 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 197 | m_posLeg[1] = 106; |
salco | 0:e4151abdff23 | 198 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 199 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 200 | } else { |
salco | 0:e4151abdff23 | 201 | m_posLeg[1] = 195; |
salco | 0:e4151abdff23 | 202 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 203 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 204 | } |
salco | 0:e4151abdff23 | 205 | break; |
salco | 0:e4151abdff23 | 206 | case 5: |
salco | 0:e4151abdff23 | 207 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 208 | m_posLeg[1] = 128; |
salco | 0:e4151abdff23 | 209 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 210 | m_posLeg[3] = 128; |
salco | 0:e4151abdff23 | 211 | } else { |
salco | 0:e4151abdff23 | 212 | m_posLeg[1] = 172; |
salco | 0:e4151abdff23 | 213 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 214 | m_posLeg[3] = 173; |
salco | 0:e4151abdff23 | 215 | } |
salco | 0:e4151abdff23 | 216 | break; |
salco | 0:e4151abdff23 | 217 | case 6: |
salco | 0:e4151abdff23 | 218 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 219 | m_posLeg[1] = 144; |
salco | 0:e4151abdff23 | 220 | m_posLeg[2] = 205; |
salco | 0:e4151abdff23 | 221 | m_posLeg[3] = 130; |
salco | 0:e4151abdff23 | 222 | } else { |
salco | 0:e4151abdff23 | 223 | m_posLeg[1] = 156; |
salco | 0:e4151abdff23 | 224 | m_posLeg[2] = 95; |
salco | 0:e4151abdff23 | 225 | m_posLeg[3] = 170; |
salco | 0:e4151abdff23 | 226 | } |
salco | 0:e4151abdff23 | 227 | break; |
salco | 0:e4151abdff23 | 228 | case 7: |
salco | 0:e4151abdff23 | 229 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 230 | m_posLeg[1] = 144; |
salco | 0:e4151abdff23 | 231 | m_posLeg[2] = 211; |
salco | 0:e4151abdff23 | 232 | m_posLeg[3] = 123; |
salco | 0:e4151abdff23 | 233 | } else { |
salco | 0:e4151abdff23 | 234 | m_posLeg[1] = 156; |
salco | 0:e4151abdff23 | 235 | m_posLeg[2] = 89; |
salco | 0:e4151abdff23 | 236 | m_posLeg[3] = 177; |
salco | 0:e4151abdff23 | 237 | } |
salco | 0:e4151abdff23 | 238 | break; |
salco | 0:e4151abdff23 | 239 | case 8: |
salco | 0:e4151abdff23 | 240 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 241 | m_posLeg[1] = 172; |
salco | 0:e4151abdff23 | 242 | m_posLeg[2] = 185; |
salco | 0:e4151abdff23 | 243 | m_posLeg[3] = 124; |
salco | 0:e4151abdff23 | 244 | } else { |
salco | 0:e4151abdff23 | 245 | m_posLeg[1] = 128; |
salco | 0:e4151abdff23 | 246 | m_posLeg[2] = 115; |
salco | 0:e4151abdff23 | 247 | m_posLeg[3] = 176; |
salco | 0:e4151abdff23 | 248 | } |
salco | 0:e4151abdff23 | 249 | break; |
salco | 0:e4151abdff23 | 250 | case 9: |
salco | 0:e4151abdff23 | 251 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 252 | m_posLeg[1] = 194; |
salco | 0:e4151abdff23 | 253 | m_posLeg[2] = 166; |
salco | 0:e4151abdff23 | 254 | m_posLeg[3] = 118; |
salco | 0:e4151abdff23 | 255 | } else { |
salco | 0:e4151abdff23 | 256 | m_posLeg[1] = 106; |
salco | 0:e4151abdff23 | 257 | m_posLeg[2] = 134; |
salco | 0:e4151abdff23 | 258 | m_posLeg[3] = 182; |
salco | 0:e4151abdff23 | 259 | } |
salco | 0:e4151abdff23 | 260 | break; |
salco | 19:0ac80045ba4c | 261 | default: |
salco | 19:0ac80045ba4c | 262 | m_posLeg[0] = 0; |
salco | 19:0ac80045ba4c | 263 | m_posLeg[1] = 0; |
salco | 19:0ac80045ba4c | 264 | m_posLeg[2] = 0; |
salco | 19:0ac80045ba4c | 265 | m_posLeg[3] = 0; |
salco | 19:0ac80045ba4c | 266 | break; |
salco | 0:e4151abdff23 | 267 | } |
salco | 19:0ac80045ba4c | 268 | }*/ |
salco | 0:e4151abdff23 | 269 | } |
salco | 0:e4151abdff23 | 270 | } |
salco | 0:e4151abdff23 | 271 | void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg) |
salco | 0:e4151abdff23 | 272 | {} |
salco | 0:e4151abdff23 | 273 | void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg) |
salco | 0:e4151abdff23 | 274 | {} |
salco | 0:e4151abdff23 | 275 | void homemadeSequence::seqRepositioner(char idOperation,char idLeg) |
salco | 0:e4151abdff23 | 276 | {} |
salco | 0:e4151abdff23 | 277 | void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg) |
salco | 0:e4151abdff23 | 278 | {} |
salco | 0:e4151abdff23 | 279 | bool homemadeSequence::next_frame(void) |
salco | 0:e4151abdff23 | 280 | { |
salco | 19:0ac80045ba4c | 281 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame"); |
salco | 19:0ac80045ba4c | 282 | bool temp=false; |
salco | 19:0ac80045ba4c | 283 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 284 | |
salco | 19:0ac80045ba4c | 285 | //if(m_idFrame > 1){ |
salco | 0:e4151abdff23 | 286 | m_idFrame++; |
salco | 19:0ac80045ba4c | 287 | unsigned char* tmpTable = get_frame(1); |
salco | 0:e4151abdff23 | 288 | |
salco | 19:0ac80045ba4c | 289 | if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{ |
salco | 19:0ac80045ba4c | 290 | temp=true; |
salco | 19:0ac80045ba4c | 291 | //m_idFrame++;//get_frame(m_idFrame); |
salco | 19:0ac80045ba4c | 292 | //} |
salco | 19:0ac80045ba4c | 293 | else |
salco | 19:0ac80045ba4c | 294 | m_idFrame--; |
salco | 19:0ac80045ba4c | 295 | |
salco | 19:0ac80045ba4c | 296 | //} |
salco | 19:0ac80045ba4c | 297 | //} |
salco | 19:0ac80045ba4c | 298 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 299 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame"); |
salco | 0:e4151abdff23 | 300 | return temp; |
salco | 0:e4151abdff23 | 301 | } |
salco | 19:0ac80045ba4c | 302 | bool homemadeSequence::prev_frame(void) //true == prev is ok |
salco | 0:e4151abdff23 | 303 | { |
salco | 19:0ac80045ba4c | 304 | //false == impossible |
salco | 19:0ac80045ba4c | 305 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame"); |
salco | 19:0ac80045ba4c | 306 | bool temp=false; |
salco | 19:0ac80045ba4c | 307 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 308 | |
salco | 19:0ac80045ba4c | 309 | if(m_idFrame > 1) { |
salco | 19:0ac80045ba4c | 310 | m_idFrame--; |
salco | 19:0ac80045ba4c | 311 | unsigned char* tmpTable = get_frame(1); |
salco | 0:e4151abdff23 | 312 | |
salco | 19:0ac80045ba4c | 313 | if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{ |
salco | 19:0ac80045ba4c | 314 | temp=true; |
salco | 19:0ac80045ba4c | 315 | //m_idFrame++;//get_frame(m_idFrame); |
salco | 19:0ac80045ba4c | 316 | //} |
salco | 19:0ac80045ba4c | 317 | else |
salco | 19:0ac80045ba4c | 318 | m_idFrame++; |
salco | 19:0ac80045ba4c | 319 | |
salco | 19:0ac80045ba4c | 320 | //} |
salco | 19:0ac80045ba4c | 321 | } |
salco | 19:0ac80045ba4c | 322 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 323 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame"); |
salco | 0:e4151abdff23 | 324 | return temp; |
salco | 0:e4151abdff23 | 325 | } |