Alexandre Salconi-Denis
/
ProjetOctopode
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/mouvement.cpp@1:25ea21da4542, 2015-03-11 (annotated)
- Committer:
- salco
- Date:
- Wed Mar 11 21:57:26 2015 +0000
- Revision:
- 1:25ea21da4542
- Parent:
- source/mouvement.cpp@0:e4151abdff23
Changer les doccuments pour des noms plus generique et creation de nouveau sous repertoire.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 0:e4151abdff23 | 1 | /* |
salco | 0:e4151abdff23 | 2 | * mouvement.cpp |
salco | 0:e4151abdff23 | 3 | * |
salco | 0:e4151abdff23 | 4 | * Created on: Mar 02, 2015 |
salco | 0:e4151abdff23 | 5 | * Author: salco |
salco | 0:e4151abdff23 | 6 | */ |
salco | 0:e4151abdff23 | 7 | #include "mouvement.h" |
salco | 0:e4151abdff23 | 8 | |
salco | 0:e4151abdff23 | 9 | Faculter_motrice::Faculter_motrice(Serial* com):m_com(com) |
salco | 0:e4151abdff23 | 10 | { |
salco | 0:e4151abdff23 | 11 | m_seq = new homemadeSequence(); |
salco | 0:e4151abdff23 | 12 | |
salco | 0:e4151abdff23 | 13 | m_arr_D = new Patte(1,0,1,2,3); |
salco | 0:e4151abdff23 | 14 | m_arr_mil_D = new Patte(2,4,5,6,7); |
salco | 0:e4151abdff23 | 15 | m_arr_G = new Patte(3,16,17,18,19); |
salco | 0:e4151abdff23 | 16 | m_arr_mil_G = new Patte(4,20,21,22,23); |
salco | 0:e4151abdff23 | 17 | m_avv_D = new Patte(5,12,13,14,15); |
salco | 0:e4151abdff23 | 18 | m_avv_mil_D = new Patte(6,8,9,10,11); |
salco | 0:e4151abdff23 | 19 | m_avv_G = new Patte(7,28,29,30,31); |
salco | 0:e4151abdff23 | 20 | m_avv_mil_G = new Patte(8,24,25,26,27); |
salco | 0:e4151abdff23 | 21 | |
salco | 0:e4151abdff23 | 22 | m_SequenceID_arr_D =0; |
salco | 0:e4151abdff23 | 23 | m_SequenceID_arr_mil_D =0; |
salco | 0:e4151abdff23 | 24 | m_SequenceID_arr_G =0; |
salco | 0:e4151abdff23 | 25 | m_SequenceID_arr_mil_G =0; |
salco | 0:e4151abdff23 | 26 | m_SequenceID_avv_D =0; |
salco | 0:e4151abdff23 | 27 | m_SequenceID_avv_mil_D =0; |
salco | 0:e4151abdff23 | 28 | m_SequenceID_avv_G =0; |
salco | 0:e4151abdff23 | 29 | m_SequenceID_avv_mil_G =0; |
salco | 0:e4151abdff23 | 30 | |
salco | 0:e4151abdff23 | 31 | m_ForceStop = false; |
salco | 0:e4151abdff23 | 32 | m_CriticalStop = false; |
salco | 0:e4151abdff23 | 33 | } |
salco | 0:e4151abdff23 | 34 | Faculter_motrice::~Faculter_motrice() |
salco | 0:e4151abdff23 | 35 | { |
salco | 0:e4151abdff23 | 36 | if(m_seq) |
salco | 0:e4151abdff23 | 37 | delete m_seq; |
salco | 0:e4151abdff23 | 38 | if (m_arr_D) |
salco | 0:e4151abdff23 | 39 | delete m_arr_D; |
salco | 0:e4151abdff23 | 40 | if (m_arr_mil_D) |
salco | 0:e4151abdff23 | 41 | delete m_arr_mil_D; |
salco | 0:e4151abdff23 | 42 | if (m_arr_G) |
salco | 0:e4151abdff23 | 43 | delete m_arr_G; |
salco | 0:e4151abdff23 | 44 | if (m_arr_mil_G) |
salco | 0:e4151abdff23 | 45 | delete m_arr_mil_G; |
salco | 0:e4151abdff23 | 46 | |
salco | 0:e4151abdff23 | 47 | if (m_avv_D) |
salco | 0:e4151abdff23 | 48 | delete m_avv_D; |
salco | 0:e4151abdff23 | 49 | if (m_avv_mil_D) |
salco | 0:e4151abdff23 | 50 | delete m_avv_mil_D; |
salco | 0:e4151abdff23 | 51 | if (m_avv_G) |
salco | 0:e4151abdff23 | 52 | delete m_avv_G; |
salco | 0:e4151abdff23 | 53 | if (m_avv_mil_G) |
salco | 0:e4151abdff23 | 54 | delete m_avv_mil_G; |
salco | 0:e4151abdff23 | 55 | return; |
salco | 0:e4151abdff23 | 56 | } |
salco | 0:e4151abdff23 | 57 | void Faculter_motrice::exec(void) |
salco | 0:e4151abdff23 | 58 | { |
salco | 0:e4151abdff23 | 59 | #ifdef DEBUG |
salco | 0:e4151abdff23 | 60 | m_com->printf("Flag in exec [%i :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence()); |
salco | 0:e4151abdff23 | 61 | #endif |
salco | 0:e4151abdff23 | 62 | if((!m_ForceStop)&&(m_seq->get_Sequence() != 0)) { |
salco | 0:e4151abdff23 | 63 | unsigned char* tempLeg; |
salco | 0:e4151abdff23 | 64 | |
salco | 0:e4151abdff23 | 65 | |
salco | 0:e4151abdff23 | 66 | |
salco | 0:e4151abdff23 | 67 | switch(m_seq->get_Sequence()) { |
salco | 0:e4151abdff23 | 68 | case 1: |
salco | 0:e4151abdff23 | 69 | tempLeg=m_seq->get_frame(m_arr_D->id()); |
salco | 0:e4151abdff23 | 70 | m_arr_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]); |
salco | 0:e4151abdff23 | 71 | //...// |
salco | 0:e4151abdff23 | 72 | if(m_seq->next_frame() == false) { |
salco | 0:e4151abdff23 | 73 | m_ForceStop=true; |
salco | 0:e4151abdff23 | 74 | #ifdef DEBUG |
salco | 0:e4151abdff23 | 75 | m_com->printf(" Flag next impossible \n\r",m_ForceStop,m_seq->get_Sequence()); |
salco | 0:e4151abdff23 | 76 | #endif |
salco | 0:e4151abdff23 | 77 | } |
salco | 0:e4151abdff23 | 78 | #ifdef DEBUG |
salco | 0:e4151abdff23 | 79 | else |
salco | 0:e4151abdff23 | 80 | m_com->printf(" Flag next possible \n\r",m_ForceStop,m_seq->get_Sequence()); |
salco | 0:e4151abdff23 | 81 | #endif |
salco | 0:e4151abdff23 | 82 | break; |
salco | 0:e4151abdff23 | 83 | } |
salco | 0:e4151abdff23 | 84 | //char buffer[50]; |
salco | 0:e4151abdff23 | 85 | //scanf(buffer,"%s T%d\n\r",m_arr_D->toString(),DELAITESTE); |
salco | 0:e4151abdff23 | 86 | m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE); |
salco | 0:e4151abdff23 | 87 | |
salco | 0:e4151abdff23 | 88 | /* |
salco | 0:e4151abdff23 | 89 | tempLeg=m_seq->get_frame(m_arr_D->id()); |
salco | 0:e4151abdff23 | 90 | m_com->printf("This program is %d .\n", tempLeg[0]);*/ |
salco | 0:e4151abdff23 | 91 | } |
salco | 0:e4151abdff23 | 92 | #ifdef DEBUG |
salco | 0:e4151abdff23 | 93 | m_com->printf("Flag out exec [%i :: %i ] \n\r",m_ForceStop,m_seq->get_Sequence()); |
salco | 0:e4151abdff23 | 94 | #endif |
salco | 0:e4151abdff23 | 95 | } |
salco | 0:e4151abdff23 | 96 | /*void Faculter_motrice::moveLeft (void) |
salco | 0:e4151abdff23 | 97 | { |
salco | 0:e4151abdff23 | 98 | m_seq->set_Sequence(9); |
salco | 0:e4151abdff23 | 99 | } |
salco | 0:e4151abdff23 | 100 | void Faculter_motrice::moveRight(void) |
salco | 0:e4151abdff23 | 101 | { |
salco | 0:e4151abdff23 | 102 | |
salco | 0:e4151abdff23 | 103 | } |
salco | 0:e4151abdff23 | 104 | void Faculter_motrice::moveUp (void) |
salco | 0:e4151abdff23 | 105 | { |
salco | 0:e4151abdff23 | 106 | |
salco | 0:e4151abdff23 | 107 | } |
salco | 0:e4151abdff23 | 108 | void Faculter_motrice::moveDown (void) |
salco | 0:e4151abdff23 | 109 | { |
salco | 0:e4151abdff23 | 110 | |
salco | 0:e4151abdff23 | 111 | } |
salco | 0:e4151abdff23 | 112 | void Faculter_motrice::moveFront(void) |
salco | 0:e4151abdff23 | 113 | { |
salco | 0:e4151abdff23 | 114 | |
salco | 0:e4151abdff23 | 115 | } |
salco | 0:e4151abdff23 | 116 | void Faculter_motrice::moveBack (void) |
salco | 0:e4151abdff23 | 117 | { |
salco | 0:e4151abdff23 | 118 | |
salco | 0:e4151abdff23 | 119 | } |
salco | 0:e4151abdff23 | 120 | void Faculter_motrice::turnLeft (void) |
salco | 0:e4151abdff23 | 121 | { |
salco | 0:e4151abdff23 | 122 | |
salco | 0:e4151abdff23 | 123 | } |
salco | 0:e4151abdff23 | 124 | void Faculter_motrice::trunRight(void) |
salco | 0:e4151abdff23 | 125 | { |
salco | 0:e4151abdff23 | 126 | |
salco | 0:e4151abdff23 | 127 | }*/ |
salco | 0:e4151abdff23 | 128 | void Faculter_motrice::crit_stop(void) |
salco | 0:e4151abdff23 | 129 | { |
salco | 0:e4151abdff23 | 130 | 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"); |
salco | 0:e4151abdff23 | 131 | m_ForceStop=true; |
salco | 0:e4151abdff23 | 132 | m_CriticalStop=true; |
salco | 0:e4151abdff23 | 133 | } |