![](/media/cache/profiles/4b0986230d9d7aded7f0c24033d221d4.jpg.50x50_q85.jpg)
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@36:474d4795aafa, 2015-09-13 (annotated)
- Committer:
- salco
- Date:
- Sun Sep 13 06:56:09 2015 +0000
- Revision:
- 36:474d4795aafa
- Parent:
- 27:ea60d12dccdf
Mise a jours du labyrinthe et augmentation du debogage graphique.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 36:474d4795aafa | 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 | 27:ea60d12dccdf | 8 | |
salco | 27:ea60d12dccdf | 9 | |
salco | 27:ea60d12dccdf | 10 | unsigned char table_seqDefaultPos[8][4] = { |
salco | 27:ea60d12dccdf | 11 | {137,123,217,135}, |
salco | 27:ea60d12dccdf | 12 | {165,120,222,135}, |
salco | 27:ea60d12dccdf | 13 | {160,117,217,137}, |
salco | 27:ea60d12dccdf | 14 | {150,111,213,142}, |
salco | 27:ea60d12dccdf | 15 | {153,181, 83,166}, |
salco | 27:ea60d12dccdf | 16 | {133,187, 78,161}, |
salco | 27:ea60d12dccdf | 17 | {170,192, 78,156}, |
salco | 27:ea60d12dccdf | 18 | {144,181, 81,165}}; |
salco | 27:ea60d12dccdf | 19 | #define SIZE_SEQUP 9 |
salco | 27:ea60d12dccdf | 20 | unsigned char table_seqUp[SIZE_SEQUP][2][3] = { { {80 , 210, 160}, {220, 90 , 114} }, |
salco | 22:a2c875629f2d | 21 | { {80 , 220, 170}, {220, 80 , 130} }, |
salco | 22:a2c875629f2d | 22 | { {90 , 220, 160}, {200, 80 , 140} }, |
salco | 22:a2c875629f2d | 23 | { {106, 220, 150}, {194, 80 , 150} }, |
salco | 22:a2c875629f2d | 24 | { {128, 220, 127}, {172, 80 , 173} }, |
salco | 22:a2c875629f2d | 25 | { {144, 205, 130}, {156, 95 , 170} }, |
salco | 22:a2c875629f2d | 26 | { {144, 210, 123}, {156, 89 , 177} }, |
salco | 22:a2c875629f2d | 27 | { {172, 185, 124}, {128, 115, 176} }, |
salco | 22:a2c875629f2d | 28 | { {194, 166, 118}, {106, 134, 182} } |
salco | 22:a2c875629f2d | 29 | }; |
salco | 22:a2c875629f2d | 30 | |
salco | 27:ea60d12dccdf | 31 | unsigned char table_seqDown[SIZE_SEQUP][2][3] = { { {172, 185, 124}, {128, 115, 176} }, |
salco | 22:a2c875629f2d | 32 | { {172, 185, 124}, {128, 115, 176} }, |
salco | 22:a2c875629f2d | 33 | { {144, 210, 123}, {156, 89 , 177} }, |
salco | 22:a2c875629f2d | 34 | { {144, 205, 130}, {156, 95 , 170} }, |
salco | 22:a2c875629f2d | 35 | { {128, 220, 127}, {172, 80 , 173} }, |
salco | 22:a2c875629f2d | 36 | { {106, 220, 150}, {194, 80 , 150} }, |
salco | 22:a2c875629f2d | 37 | { {90 , 220, 160}, {200, 80 , 140} }, |
salco | 22:a2c875629f2d | 38 | { {80 , 220, 170}, {220, 80 , 130} }, |
salco | 22:a2c875629f2d | 39 | { {80 , 100, 150}, {220, 200, 150} } |
salco | 22:a2c875629f2d | 40 | };//fin de la seq il met ses patte sur sa tete** |
salco | 22:a2c875629f2d | 41 | |
salco | 27:ea60d12dccdf | 42 | #define SIZE_SEQCRABE 33 |
salco | 27:ea60d12dccdf | 43 | unsigned char table_seqCrabe[SIZE_SEQCRABE][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{125, 184, 156}, /* 8*/{132, 215, 147}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 44 | /*16*/{203,101,128}, /*20*/{255,255,255}, /*24*/{176, 87, 163}, /*28*/{191, 103,133} |
salco | 22:a2c875629f2d | 45 | }, |
salco | 22:a2c875629f2d | 46 | { /* 0*/{255,255,255}, /* 4*/{111, 185, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 47 | /*16*/{209, 99,140}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{196, 105,142} |
salco | 22:a2c875629f2d | 48 | }, |
salco | 22:a2c875629f2d | 49 | { /* 0*/{255,255,255}, /* 4*/{103, 192, 155}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 50 | /*16*/{203,108,137}, /*20*/{255, 255, 255}, /*24*/{170, 88, 159}, /*28*/{191, 112,141} |
salco | 22:a2c875629f2d | 51 | }, |
salco | 22:a2c875629f2d | 52 | { /* 0*/{255,255,255}, /* 4*/{ 98, 199, 158}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 53 | /*16*/{196,114,137}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{184, 118,142} |
salco | 22:a2c875629f2d | 54 | }, |
salco | 22:a2c875629f2d | 55 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 56 | /*16*/{182,115,144}, /*20*/{255, 255, 255}, /*24*/{169, 83, 164}, /*28*/{172, 118,142} |
salco | 22:a2c875629f2d | 57 | }, |
salco | 22:a2c875629f2d | 58 | { /* 0*/{255,255,255}, /* 4*/{102, 201, 170}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 59 | /*16*/{152,137,139}, /*20*/{255, 255, 255}, /*24*/{169, 78, 155}, /*28*/{146, 137,142} |
salco | 22:a2c875629f2d | 60 | }, |
salco | 22:a2c875629f2d | 61 | { /* 0*/{255,255,255}, /* 4*/{102, 207, 179}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 62 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 76, 137}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 63 | }, |
salco | 22:a2c875629f2d | 64 | { /* 0*/{255,255,255}, /* 4*/{ 94, 213, 183}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 65 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 77, 131}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 66 | }, |
salco | 22:a2c875629f2d | 67 | { /* 0*/{255,255,255}, /* 4*/{106, 216, 175}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 68 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{208, 75, 116}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 69 | }, |
salco | 22:a2c875629f2d | 70 | { /* 0*/{255,255,255}, /* 4*/{129, 217, 165}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 71 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{225, 75, 109}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 72 | }, |
salco | 22:a2c875629f2d | 73 | { /* 0*/{255,255,255}, /* 4*/{129, 221, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 74 | /*16*/{255,255,255}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 75 | }, |
salco | 22:a2c875629f2d | 76 | { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{255, 255, 255}, /*12*/{149, 158,159}, |
salco | 22:a2c875629f2d | 77 | /*16*/{255,255,255}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 78 | }, |
salco | 22:a2c875629f2d | 79 | { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{255, 255, 255}, /*12*/{121, 180,156}, |
salco | 22:a2c875629f2d | 80 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{215, 93, 140}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 81 | }, |
salco | 22:a2c875629f2d | 82 | { /* 0*/{113,176,156}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{107, 182,156}, |
salco | 22:a2c875629f2d | 83 | /*16*/{255,255,255}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 84 | }, |
salco | 22:a2c875629f2d | 85 | { /* 0*/{105,183,155}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{100, 187,150}, |
salco | 22:a2c875629f2d | 86 | /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{202, 106, 142}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 87 | }, |
salco | 22:a2c875629f2d | 88 | { /* 0*/{100,191,158}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 96, 193,155}, |
salco | 22:a2c875629f2d | 89 | /*16*/{255,255,255}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 90 | }, |
salco | 22:a2c875629f2d | 91 | { /* 0*/{103,193,170}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 197,170}, |
salco | 22:a2c875629f2d | 92 | /*16*/{255,255,255}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 93 | }, |
salco | 22:a2c875629f2d | 94 | { /* 0*/{103,200,177}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 201,177}, |
salco | 22:a2c875629f2d | 95 | /*16*/{255,255,255}, /*20*/{177, 80, 145}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 96 | }, |
salco | 22:a2c875629f2d | 97 | { /* 0*/{ 96,205,182}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 91, 208,176}, |
salco | 22:a2c875629f2d | 98 | /*16*/{255,255,255}, /*20*/{177, 87, 130}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 99 | }, |
salco | 22:a2c875629f2d | 100 | { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173}, |
salco | 22:a2c875629f2d | 101 | /*16*/{255,255,255}, /*20*/{192, 92, 123}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 102 | }, |
salco | 22:a2c875629f2d | 103 | { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173}, |
salco | 22:a2c875629f2d | 104 | /*16*/{255,255,255}, /*20*/{218, 79, 120}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 105 | }, |
salco | 22:a2c875629f2d | 106 | { /* 0*/{129,219,151}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{125, 213,157}, |
salco | 22:a2c875629f2d | 107 | /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{255, 255, 255}, /*28*/{154, 116,150} |
salco | 22:a2c875629f2d | 108 | }, |
salco | 22:a2c875629f2d | 109 | { /* 0*/{140,209,142}, /* 4*/{255, 255, 255}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145}, |
salco | 22:a2c875629f2d | 110 | /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{255, 255, 255}, /*28*/{163, 93,168} |
salco | 22:a2c875629f2d | 111 | }, |
salco | 22:a2c875629f2d | 112 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{115, 182, 158}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 113 | /*16*/{255,255,255}, /*20*/{212, 97, 142}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 114 | }, |
salco | 22:a2c875629f2d | 115 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{101, 183, 156}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 116 | /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{255, 255, 255}, /*28*/{160, 96,160} |
salco | 22:a2c875629f2d | 117 | }, |
salco | 22:a2c875629f2d | 118 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 94, 190, 154}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 119 | /*16*/{255,255,255}, /*20*/{197, 113, 144}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} |
salco | 22:a2c875629f2d | 120 | }, |
salco | 22:a2c875629f2d | 121 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 89, 197, 158}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 122 | /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{255, 255, 255}, /*28*/{161, 88,162} |
salco | 22:a2c875629f2d | 123 | }, |
salco | 22:a2c875629f2d | 124 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 200, 171}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 125 | /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{255, 255, 255}, /*28*/{166, 86,156} |
salco | 22:a2c875629f2d | 126 | }, |
salco | 22:a2c875629f2d | 127 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 205, 175}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 128 | /*16*/{177, 82,133}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 82,143} |
salco | 22:a2c875629f2d | 129 | }, |
salco | 22:a2c875629f2d | 130 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 82, 215, 177}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 131 | /*16*/{177, 85,126}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 84,135} |
salco | 22:a2c875629f2d | 132 | }, |
salco | 22:a2c875629f2d | 133 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 96, 214, 176}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 134 | /*16*/{191,101,113}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{190, 86,124} |
salco | 22:a2c875629f2d | 135 | }, |
salco | 22:a2c875629f2d | 136 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 213, 158}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 137 | /*16*/{213, 83,124}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{202, 88,121} |
salco | 22:a2c875629f2d | 138 | }, |
salco | 22:a2c875629f2d | 139 | { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 217, 154}, /*12*/{255, 255,255}, |
salco | 22:a2c875629f2d | 140 | /*16*/{203, 95,110}, /*20*/{255, 255, 255}, /*24*/{165, 109, 152}, /*28*/{191, 101,120} |
salco | 22:a2c875629f2d | 141 | } |
salco | 22:a2c875629f2d | 142 | }; |
salco | 27:ea60d12dccdf | 143 | #define SIZE_SEQTURN 31 |
salco | 27:ea60d12dccdf | 144 | unsigned char table_seqTurn_PAUSE_TIME[SIZE_SEQTURN][2] = { |
salco | 27:ea60d12dccdf | 145 | { 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 20, 20},{ 30, 30},{ 30, 30},{ 30, 30}, |
salco | 27:ea60d12dccdf | 146 | { 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 25, 20},{ 21, 30},{ 30, 30},{ 30, 30}, |
salco | 27:ea60d12dccdf | 147 | { 20, 20},{ 20, 20},{ 20, 30},{ 20, 20},{ 20, 20},{ 30, 30},{ 31, 30}, |
salco | 27:ea60d12dccdf | 148 | { 20, 20},{ 30, 30},{ 20, 30},{ 30, 30},{ 20, 20},{ 20, 30},{ 30, 30},{ 0, 30} |
salco | 22:a2c875629f2d | 149 | }; |
salco | 21:5c17b7836733 | 150 | |
salco | 27:ea60d12dccdf | 151 | unsigned char table_seqTurn[SIZE_SEQTURN][8][3] = { |
salco | 27:ea60d12dccdf | 152 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 153 | /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 154 | }, |
salco | 22:a2c875629f2d | 155 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 156 | /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 157 | }, |
salco | 22:a2c875629f2d | 158 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 90,196,170}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 159 | /*16*/{255,255,255}, /*20*/{205,107,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 160 | }, |
salco | 22:a2c875629f2d | 161 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{101,183,165}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 162 | /*16*/{255,255,255}, /*20*/{197,113,135}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 163 | }, |
salco | 22:a2c875629f2d | 164 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 165 | /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 166 | }, |
salco | 22:a2c875629f2d | 167 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{118,219,139}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 168 | /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 169 | }, |
salco | 22:a2c875629f2d | 170 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{117,217,137}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 171 | /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 172 | }, |
salco | 22:a2c875629f2d | 173 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 174 | /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 175 | }, |
salco | 22:a2c875629f2d | 176 | { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 177 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124} |
salco | 22:a2c875629f2d | 178 | }, |
salco | 22:a2c875629f2d | 179 | { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 180 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 95,124} |
salco | 22:a2c875629f2d | 181 | }, |
salco | 22:a2c875629f2d | 182 | { /* 0*/{105,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 183 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{208, 99,127} |
salco | 22:a2c875629f2d | 184 | }, |
salco | 22:a2c875629f2d | 185 | { /* 0*/{113,176,165}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 186 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{204,103,133} |
salco | 22:a2c875629f2d | 187 | }, |
salco | 22:a2c875629f2d | 188 | { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 189 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115} |
salco | 22:a2c875629f2d | 190 | }, |
salco | 27:ea60d12dccdf | 191 | { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 192 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169} |
salco | 22:a2c875629f2d | 193 | }, |
salco | 27:ea60d12dccdf | 194 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 195 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167} |
salco | 22:a2c875629f2d | 196 | }, |
salco | 22:a2c875629f2d | 197 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176}, |
salco | 22:a2c875629f2d | 198 | /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 199 | }, |
salco | 22:a2c875629f2d | 200 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, |
salco | 22:a2c875629f2d | 201 | /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 202 | }, |
salco | 22:a2c875629f2d | 203 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 94,196,168}, |
salco | 22:a2c875629f2d | 204 | /*16*/{203,103,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 205 | }, |
salco | 22:a2c875629f2d | 206 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{107,182,165}, |
salco | 22:a2c875629f2d | 207 | /*16*/{196,114,128}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 208 | }, |
salco | 22:a2c875629f2d | 209 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, |
salco | 22:a2c875629f2d | 210 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 211 | }, |
salco | 22:a2c875629f2d | 212 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 92,198,168}, |
salco | 22:a2c875629f2d | 213 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 214 | }, |
salco | 22:a2c875629f2d | 215 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145}, |
salco | 22:a2c875629f2d | 216 | /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 217 | }, |
salco | 22:a2c875629f2d | 218 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142}, |
salco | 22:a2c875629f2d | 219 | /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 220 | }, |
salco | 22:a2c875629f2d | 221 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 222 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{204, 88,116}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 223 | }, |
salco | 22:a2c875629f2d | 224 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 225 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{190, 76,160}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 226 | }, |
salco | 22:a2c875629f2d | 227 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 228 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{192, 78,156}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 229 | }, |
salco | 22:a2c875629f2d | 230 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 231 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{194, 78,161}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 232 | }, |
salco | 22:a2c875629f2d | 233 | { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 234 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 235 | }, |
salco | 22:a2c875629f2d | 236 | { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 237 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 238 | }, |
salco | 22:a2c875629f2d | 239 | { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 240 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 241 | }, |
salco | 22:a2c875629f2d | 242 | { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 22:a2c875629f2d | 243 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 22:a2c875629f2d | 244 | } |
salco | 22:a2c875629f2d | 245 | }; |
salco | 27:ea60d12dccdf | 246 | |
salco | 27:ea60d12dccdf | 247 | #define SIZE_SEQREPOSITIONNE 6 |
salco | 27:ea60d12dccdf | 248 | unsigned char table_seqRepositionne_PAUSE_TIME[SIZE_SEQREPOSITIONNE][2] = {{ 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}}; |
salco | 27:ea60d12dccdf | 249 | unsigned char table_seqRepositionne[SIZE_SEQREPOSITIONNE][8][3] = { |
salco | 22:a2c875629f2d | 250 | { /* 0*/{103,206,176}, /* 4*/{102,213,176}, /* 8*/{ 92,211,171}, /*12*/{ 99,211,176}, |
salco | 22:a2c875629f2d | 251 | /*16*/{210, 86,121}, /*20*/{213, 85,118}, /*24*/{217, 83,118}, /*28*/{200, 86,124} |
salco | 22:a2c875629f2d | 252 | }, |
salco | 22:a2c875629f2d | 253 | { /* 0*/{100,188,184}, /* 4*/{ 98,193,185}, /* 8*/{ 89,193,186}, /*12*/{ 96,193,185}, |
salco | 22:a2c875629f2d | 254 | /*16*/{209, 99,115}, /*20*/{212, 99,119}, /*24*/{215, 95,119}, /*28*/{205, 95,124} |
salco | 22:a2c875629f2d | 255 | }, |
salco | 22:a2c875629f2d | 256 | { /* 0*/{ 93,182,166}, /* 4*/{ 86,196,161}, /* 8*/{ 75,196,170}, /*12*/{ 88,192,168}, |
salco | 22:a2c875629f2d | 257 | /*16*/{206,115,125}, /*20*/{211,114,129}, /*24*/{213,110,129}, /*28*/{206,108,127} |
salco | 22:a2c875629f2d | 258 | }, |
salco | 22:a2c875629f2d | 259 | { /* 0*/{ 93,187,203}, /* 4*/{ 88,202,195}, /* 8*/{ 88,207,190}, /*12*/{ 92,198,199}, |
salco | 22:a2c875629f2d | 260 | /*16*/{204,110,107}, /*20*/{207,110,100}, /*24*/{204, 88,116}, /*28*/{203,103,115} |
salco | 22:a2c875629f2d | 261 | }, |
salco | 22:a2c875629f2d | 262 | { /* 0*/{123,220,139}, /* 4*/{125,225,133}, /* 8*/{118,219,139}, /*12*/{118,206,145}, |
salco | 22:a2c875629f2d | 263 | /*16*/{179, 82,167}, /*20*/{189, 76,160}, /*24*/{190, 76,160}, /*28*/{178, 78,169} |
salco | 22:a2c875629f2d | 264 | }, |
salco | 22:a2c875629f2d | 265 | { /* 0*/{123,217,135}, /* 4*/{120,222,135}, /* 8*/{113,217,137}, /*12*/{111,213,142}, |
salco | 22:a2c875629f2d | 266 | /*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167} |
salco | 22:a2c875629f2d | 267 | } |
salco | 22:a2c875629f2d | 268 | }; |
salco | 27:ea60d12dccdf | 269 | #define SIZE_SEQFOWARD 43 |
salco | 27:ea60d12dccdf | 270 | unsigned char table_seqFoward_PAUSE_TIME[SIZE_SEQFOWARD][2] = { |
salco | 26:15cb45d56c28 | 271 | { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 0, 45},{ 61, 50}, |
salco | 24:c7246270a852 | 272 | { 21, 20},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20}, |
salco | 27:ea60d12dccdf | 273 | { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 50},{ 0, 50},{ 21, 20},{ 41, 45}, |
salco | 24:c7246270a852 | 274 | { 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}, |
salco | 24:c7246270a852 | 275 | { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}, |
salco | 25:f3bd72f1dd8d | 276 | { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50} |
salco | 25:f3bd72f1dd8d | 277 | }; |
salco | 27:ea60d12dccdf | 278 | unsigned char table_seqFoward[SIZE_SEQFOWARD][8][3] = { |
salco | 23:7b296b6d8285 | 279 | { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 280 | /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 281 | }, |
salco | 23:7b296b6d8285 | 282 | { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 283 | /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 284 | }, |
salco | 23:7b296b6d8285 | 285 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 286 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 287 | }, |
salco | 23:7b296b6d8285 | 288 | { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 289 | /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 290 | }, |
salco | 23:7b296b6d8285 | 291 | { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},//attention ici 2 temps diferant |
salco | 23:7b296b6d8285 | 292 | /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{200, 86,124} |
salco | 23:7b296b6d8285 | 293 | }, |
salco | 23:7b296b6d8285 | 294 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 295 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205, 95,124} |
salco | 23:7b296b6d8285 | 296 | }, |
salco | 23:7b296b6d8285 | 297 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 298 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 299 | }, |
salco | 23:7b296b6d8285 | 300 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 301 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} |
salco | 23:7b296b6d8285 | 302 | }, |
salco | 23:7b296b6d8285 | 303 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{145,161,172}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 304 | /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130} |
salco | 23:7b296b6d8285 | 305 | }, |
salco | 23:7b296b6d8285 | 306 | { /* 0*/{127,186,156}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 307 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{179, 81,167} |
salco | 23:7b296b6d8285 | 308 | }, |
salco | 26:15cb45d56c28 | 309 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 26:15cb45d56c28 | 310 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 26:15cb45d56c28 | 311 | }, |
salco | 23:7b296b6d8285 | 312 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 313 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 314 | }, |
salco | 23:7b296b6d8285 | 315 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 316 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 317 | }, |
salco | 23:7b296b6d8285 | 318 | { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 319 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 320 | }, |
salco | 23:7b296b6d8285 | 321 | { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 322 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 323 | }, |
salco | 23:7b296b6d8285 | 324 | { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 325 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 326 | }, |
salco | 23:7b296b6d8285 | 327 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 328 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 329 | }, |
salco | 23:7b296b6d8285 | 330 | { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 331 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 332 | }, |
salco | 23:7b296b6d8285 | 333 | { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 334 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 335 | }, |
salco | 23:7b296b6d8285 | 336 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 337 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 338 | }, |
salco | 23:7b296b6d8285 | 339 | { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 340 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 341 | }, |
salco | 23:7b296b6d8285 | 342 | { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},//attention temps diferant ici |
salco | 23:7b296b6d8285 | 343 | /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{154,133,133}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 344 | }, |
salco | 23:7b296b6d8285 | 345 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, |
salco | 23:7b296b6d8285 | 346 | /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 347 | }, |
salco | 23:7b296b6d8285 | 348 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 349 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 350 | }, |
salco | 23:7b296b6d8285 | 351 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, |
salco | 23:7b296b6d8285 | 352 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 353 | }, |
salco | 23:7b296b6d8285 | 354 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{145,158,173}, |
salco | 23:7b296b6d8285 | 355 | /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 356 | }, |
salco | 27:ea60d12dccdf | 357 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 27:ea60d12dccdf | 358 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 27:ea60d12dccdf | 359 | }, |
salco | 23:7b296b6d8285 | 360 | { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps |
salco | 23:7b296b6d8285 | 361 | /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 362 | }, |
salco | 23:7b296b6d8285 | 363 | { /* 0*/{127,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{116,219,134}, |
salco | 23:7b296b6d8285 | 364 | /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 365 | }, |
salco | 23:7b296b6d8285 | 366 | { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 367 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 368 | }, |
salco | 23:7b296b6d8285 | 369 | { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 370 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 371 | }, |
salco | 23:7b296b6d8285 | 372 | { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 373 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 374 | }, |
salco | 23:7b296b6d8285 | 375 | { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 376 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 377 | }, |
salco | 23:7b296b6d8285 | 378 | { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 379 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 380 | }, |
salco | 23:7b296b6d8285 | 381 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 382 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 383 | }, |
salco | 23:7b296b6d8285 | 384 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 385 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 386 | }, |
salco | 23:7b296b6d8285 | 387 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 388 | /*16*/{204,110,107}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 389 | }, |
salco | 23:7b296b6d8285 | 390 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 391 | /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 392 | }, |
salco | 23:7b296b6d8285 | 393 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 394 | /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 395 | }, |
salco | 23:7b296b6d8285 | 396 | { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 397 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 398 | }, |
salco | 23:7b296b6d8285 | 399 | { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 400 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 401 | }, |
salco | 23:7b296b6d8285 | 402 | { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 403 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 404 | }, |
salco | 23:7b296b6d8285 | 405 | { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 406 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 407 | } |
salco | 23:7b296b6d8285 | 408 | }; |
salco | 27:ea60d12dccdf | 409 | |
salco | 27:ea60d12dccdf | 410 | #define SIZE_SEQBACKWARD 35 |
salco | 27:ea60d12dccdf | 411 | unsigned char table_seqBackward_PAUSE_TIME[SIZE_SEQBACKWARD][2] = { |
salco | 27:ea60d12dccdf | 412 | { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 31, 30},{ 0, 45},{ 61, 50}, |
salco | 24:c7246270a852 | 413 | { 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30}, |
salco | 27:ea60d12dccdf | 414 | { 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 45},{ 0, 50},{ 21, 20},{ 41, 45},{ 21, 20}, |
salco | 25:f3bd72f1dd8d | 415 | { 21, 20},{ 31, 30},{ 31, 50} |
salco | 25:f3bd72f1dd8d | 416 | }; |
salco | 27:ea60d12dccdf | 417 | unsigned char table_seqBackward[SIZE_SEQBACKWARD][8][3] = { |
salco | 23:7b296b6d8285 | 418 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 419 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124} |
salco | 23:7b296b6d8285 | 420 | }, |
salco | 23:7b296b6d8285 | 421 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{89,193,186}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 422 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205,95,124} |
salco | 23:7b296b6d8285 | 423 | }, |
salco | 23:7b296b6d8285 | 424 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 425 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 426 | }, |
salco | 23:7b296b6d8285 | 427 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 428 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} |
salco | 23:7b296b6d8285 | 429 | }, |
salco | 23:7b296b6d8285 | 430 | { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},//attention ici 2 temps diferant |
salco | 23:7b296b6d8285 | 431 | /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{181, 81,167} |
salco | 23:7b296b6d8285 | 432 | }, |
salco | 23:7b296b6d8285 | 433 | { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 434 | /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 435 | }, |
salco | 23:7b296b6d8285 | 436 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 437 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 438 | }, |
salco | 23:7b296b6d8285 | 439 | { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 440 | /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 441 | }, |
salco | 23:7b296b6d8285 | 442 | { /* 0*/{136,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 443 | /*16*/{255,255,255}, /*20*/{176,108,146}, /*24*/{255,255,255}, /*28*/{179, 81,167} |
salco | 23:7b296b6d8285 | 444 | }, |
salco | 23:7b296b6d8285 | 445 | { /* 0*/{123,217,135}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 446 | /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130} |
salco | 23:7b296b6d8285 | 447 | }, |
salco | 23:7b296b6d8285 | 448 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 27:ea60d12dccdf | 449 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 27:ea60d12dccdf | 450 | }, |
salco | 27:ea60d12dccdf | 451 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 452 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} |
salco | 23:7b296b6d8285 | 453 | }, |
salco | 23:7b296b6d8285 | 454 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 455 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115} |
salco | 23:7b296b6d8285 | 456 | }, |
salco | 23:7b296b6d8285 | 457 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 458 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169} |
salco | 23:7b296b6d8285 | 459 | }, |
salco | 23:7b296b6d8285 | 460 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 461 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167} |
salco | 23:7b296b6d8285 | 462 | }, |
salco | 23:7b296b6d8285 | 463 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 464 | /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 465 | }, |
salco | 23:7b296b6d8285 | 466 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 467 | /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 468 | }, |
salco | 23:7b296b6d8285 | 469 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 470 | /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 471 | }, |
salco | 23:7b296b6d8285 | 472 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 473 | /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 474 | }, |
salco | 23:7b296b6d8285 | 475 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176}, |
salco | 23:7b296b6d8285 | 476 | /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 477 | }, |
salco | 23:7b296b6d8285 | 478 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, |
salco | 23:7b296b6d8285 | 479 | /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 480 | }, |
salco | 23:7b296b6d8285 | 481 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 482 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 483 | }, |
salco | 23:7b296b6d8285 | 484 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, |
salco | 23:7b296b6d8285 | 485 | /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 486 | }, |
salco | 23:7b296b6d8285 | 487 | { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{116,219,134},//attention plusieur temps |
salco | 23:7b296b6d8285 | 488 | /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 489 | }, |
salco | 23:7b296b6d8285 | 490 | { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 491 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 492 | }, |
salco | 23:7b296b6d8285 | 493 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 494 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 495 | }, |
salco | 23:7b296b6d8285 | 496 | { /* 0*/{255,255,255}, /* 4*/{86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 497 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 498 | }, |
salco | 23:7b296b6d8285 | 499 | { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 23:7b296b6d8285 | 500 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 501 | }, |
salco | 27:ea60d12dccdf | 502 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, |
salco | 27:ea60d12dccdf | 503 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 27:ea60d12dccdf | 504 | }, |
salco | 23:7b296b6d8285 | 505 | { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps |
salco | 23:7b296b6d8285 | 506 | /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 507 | }, |
salco | 23:7b296b6d8285 | 508 | { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{132,178,166}, |
salco | 23:7b296b6d8285 | 509 | /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 510 | }, |
salco | 23:7b296b6d8285 | 511 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, |
salco | 23:7b296b6d8285 | 512 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 513 | }, |
salco | 23:7b296b6d8285 | 514 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{92,198,199}, |
salco | 23:7b296b6d8285 | 515 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 516 | }, |
salco | 23:7b296b6d8285 | 517 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145}, |
salco | 23:7b296b6d8285 | 518 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 519 | }, |
salco | 23:7b296b6d8285 | 520 | { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142}, |
salco | 23:7b296b6d8285 | 521 | /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} |
salco | 23:7b296b6d8285 | 522 | } |
salco | 23:7b296b6d8285 | 523 | }; |
salco | 19:0ac80045ba4c | 524 | /*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 | 525 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 526 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 527 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 528 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 529 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 530 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 531 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 532 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 533 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 534 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 535 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 536 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 537 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 538 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 539 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, |
salco | 19:0ac80045ba4c | 540 | { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, |
salco | 19:0ac80045ba4c | 541 | {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/ |
salco | 0:e4151abdff23 | 542 | homemadeSequence::homemadeSequence() |
salco | 0:e4151abdff23 | 543 | { |
salco | 19:0ac80045ba4c | 544 | m_SequenceChosen=0; |
salco | 19:0ac80045ba4c | 545 | m_idFrame=0; |
salco | 22:a2c875629f2d | 546 | m_idLegUse =0; |
salco | 27:ea60d12dccdf | 547 | delaisNeed =-1; |
salco | 27:ea60d12dccdf | 548 | for(int i=0; i<8; i++)timeSequence[i]=255; |
salco | 0:e4151abdff23 | 549 | } |
salco | 0:e4151abdff23 | 550 | homemadeSequence::~homemadeSequence() |
salco | 0:e4151abdff23 | 551 | { |
salco | 0:e4151abdff23 | 552 | |
salco | 0:e4151abdff23 | 553 | } |
salco | 27:ea60d12dccdf | 554 | int homemadeSequence::patchDelais(char idMode) |
salco | 27:ea60d12dccdf | 555 | { |
salco | 27:ea60d12dccdf | 556 | int result=-1; |
salco | 27:ea60d12dccdf | 557 | switch(idMode) { |
salco | 27:ea60d12dccdf | 558 | /*case 1: |
salco | 27:ea60d12dccdf | 559 | break; |
salco | 27:ea60d12dccdf | 560 | case 2: |
salco | 27:ea60d12dccdf | 561 | break; |
salco | 27:ea60d12dccdf | 562 | case 3: |
salco | 27:ea60d12dccdf | 563 | break;*/ |
salco | 27:ea60d12dccdf | 564 | case 4: |
salco | 27:ea60d12dccdf | 565 | result = (table_seqTurn_PAUSE_TIME[0][0])*10; |
salco | 27:ea60d12dccdf | 566 | break; |
salco | 27:ea60d12dccdf | 567 | /*case 5: |
salco | 27:ea60d12dccdf | 568 | break;*/ |
salco | 27:ea60d12dccdf | 569 | case 6: |
salco | 27:ea60d12dccdf | 570 | result = (table_seqFoward_PAUSE_TIME[0][0])*10; |
salco | 27:ea60d12dccdf | 571 | break; |
salco | 27:ea60d12dccdf | 572 | case 7: |
salco | 27:ea60d12dccdf | 573 | result = (table_seqBackward_PAUSE_TIME[0][0])*10; |
salco | 27:ea60d12dccdf | 574 | break; |
salco | 27:ea60d12dccdf | 575 | case 8: |
salco | 27:ea60d12dccdf | 576 | result = (table_seqRepositionne_PAUSE_TIME[0][0])*10; |
salco | 27:ea60d12dccdf | 577 | break; |
salco | 27:ea60d12dccdf | 578 | /*case 9: |
salco | 27:ea60d12dccdf | 579 | break; |
salco | 27:ea60d12dccdf | 580 | case 10: |
salco | 27:ea60d12dccdf | 581 | break; |
salco | 27:ea60d12dccdf | 582 | case 11: |
salco | 27:ea60d12dccdf | 583 | break;*/ |
salco | 27:ea60d12dccdf | 584 | default: |
salco | 27:ea60d12dccdf | 585 | result = -1; |
salco | 27:ea60d12dccdf | 586 | break; |
salco | 27:ea60d12dccdf | 587 | } |
salco | 27:ea60d12dccdf | 588 | return result; |
salco | 27:ea60d12dccdf | 589 | } |
salco | 0:e4151abdff23 | 590 | unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg) |
salco | 0:e4151abdff23 | 591 | { |
salco | 19:0ac80045ba4c | 592 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame"); |
salco | 0:e4151abdff23 | 593 | m_posLeg[0] = 0; |
salco | 0:e4151abdff23 | 594 | m_posLeg[1] = 0; |
salco | 0:e4151abdff23 | 595 | m_posLeg[2] = 0; |
salco | 0:e4151abdff23 | 596 | m_posLeg[3] = 0; |
salco | 19:0ac80045ba4c | 597 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg); |
salco | 19:0ac80045ba4c | 598 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen); |
salco | 19:0ac80045ba4c | 599 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame); |
salco | 0:e4151abdff23 | 600 | switch(m_SequenceChosen) { |
salco | 0:e4151abdff23 | 601 | case 1:// 01 - Calibration(milieu) // |
salco | 0:e4151abdff23 | 602 | if(m_idFrame == 1) {//if(idOperation == 1) { |
salco | 0:e4151abdff23 | 603 | m_posLeg[0] = 150; |
salco | 0:e4151abdff23 | 604 | m_posLeg[1] = 150; |
salco | 0:e4151abdff23 | 605 | m_posLeg[2] = 150; |
salco | 0:e4151abdff23 | 606 | m_posLeg[3] = 150; |
salco | 19:0ac80045ba4c | 607 | } else { |
salco | 19:0ac80045ba4c | 608 | m_posLeg[0] = 0; |
salco | 19:0ac80045ba4c | 609 | m_posLeg[1] = 0; |
salco | 19:0ac80045ba4c | 610 | m_posLeg[2] = 0; |
salco | 19:0ac80045ba4c | 611 | m_posLeg[3] = 0; |
salco | 0:e4151abdff23 | 612 | } |
salco | 0:e4151abdff23 | 613 | break; |
salco | 0:e4151abdff23 | 614 | |
salco | 0:e4151abdff23 | 615 | case 2:// 02 - Debout // |
salco | 0:e4151abdff23 | 616 | seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg); |
salco | 0:e4151abdff23 | 617 | break; |
salco | 0:e4151abdff23 | 618 | case 3:// 03 - Coucher // |
salco | 0:e4151abdff23 | 619 | seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg); |
salco | 0:e4151abdff23 | 620 | break; |
salco | 0:e4151abdff23 | 621 | case 4:// 04 - Tourne Gauche // |
salco | 27:ea60d12dccdf | 622 | //delaisNeed = (table_seqTurn_PAUSE_TIME[m_idFrame-1][0])*10; |
salco | 27:ea60d12dccdf | 623 | //debug("\n\r asd:%i",delaisNeed); |
salco | 25:f3bd72f1dd8d | 624 | seqTurn(false,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 625 | break; |
salco | 0:e4151abdff23 | 626 | case 5:// 05 - Tourne Droite // |
salco | 27:ea60d12dccdf | 627 | //delaisNeed = (table_seqTurn_PAUSE_TIME[m_idFrame-1][0])*10; |
salco | 27:ea60d12dccdf | 628 | //debug("\n\r seqt:%i",delaisNeed); |
salco | 25:f3bd72f1dd8d | 629 | seqTurn(true,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 630 | break; |
salco | 0:e4151abdff23 | 631 | case 6:// 06 - Marche // |
salco | 25:f3bd72f1dd8d | 632 | seqWalk(true,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 633 | break; |
salco | 0:e4151abdff23 | 634 | case 7:// 07 - Recule // |
salco | 25:f3bd72f1dd8d | 635 | seqWalk(false,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 636 | break; |
salco | 0:e4151abdff23 | 637 | case 8:// 07 - Repositioner // |
salco | 22:a2c875629f2d | 638 | seqRepositioner(m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 639 | break; |
salco | 0:e4151abdff23 | 640 | case 9:// 09 - Crabe Gauche // |
salco | 21:5c17b7836733 | 641 | seqCrabe(false,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 642 | break; |
salco | 0:e4151abdff23 | 643 | case 10:// 10 - Crabe Droite // |
salco | 21:5c17b7836733 | 644 | seqCrabe(true,m_idFrame,idLeg); |
salco | 0:e4151abdff23 | 645 | break; |
salco | 27:ea60d12dccdf | 646 | case 11:// 11 - Position naturel // |
salco | 27:ea60d12dccdf | 647 | defaultPosition(idLeg); |
salco | 27:ea60d12dccdf | 648 | break; |
salco | 0:e4151abdff23 | 649 | } |
salco | 27:ea60d12dccdf | 650 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r delaisNeed: %i",delaisNeed); |
salco | 27:ea60d12dccdf | 651 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r timeSequence: "); |
salco | 27:ea60d12dccdf | 652 | for(int i=0; i<8; i++)debug(DEBUG_HOMEMADE_GETFRAME," [ %i ] ",timeSequence[i]); |
salco | 19:0ac80045ba4c | 653 | 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 | 27:ea60d12dccdf | 654 | //debug("\n\r seqturn:%i",delaisNeed); |
salco | 19:0ac80045ba4c | 655 | debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame"); |
salco | 0:e4151abdff23 | 656 | return m_posLeg; |
salco | 0:e4151abdff23 | 657 | } |
salco | 0:e4151abdff23 | 658 | |
salco | 0:e4151abdff23 | 659 | void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg) |
salco | 0:e4151abdff23 | 660 | { |
salco | 27:ea60d12dccdf | 661 | delaisNeed = DELAITESTE;//(table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10; |
salco | 0:e4151abdff23 | 662 | if((idOperation<10)&&(idOperation>0)) { |
salco | 19:0ac80045ba4c | 663 | switch(idLeg) { //moving hips |
salco | 22:a2c875629f2d | 664 | case 1://#0 |
salco | 0:e4151abdff23 | 665 | m_posLeg[0] = 140; |
salco | 0:e4151abdff23 | 666 | break; |
salco | 22:a2c875629f2d | 667 | case 2://#4 |
salco | 0:e4151abdff23 | 668 | m_posLeg[0] = 165; |
salco | 0:e4151abdff23 | 669 | break; |
salco | 22:a2c875629f2d | 670 | case 3://#8 |
salco | 0:e4151abdff23 | 671 | m_posLeg[0] = 160; |
salco | 0:e4151abdff23 | 672 | break; |
salco | 22:a2c875629f2d | 673 | case 6://#20 |
salco | 0:e4151abdff23 | 674 | m_posLeg[0] = 133; |
salco | 0:e4151abdff23 | 675 | break; |
salco | 22:a2c875629f2d | 676 | case 7://#24 |
salco | 0:e4151abdff23 | 677 | m_posLeg[0] = 170; |
salco | 0:e4151abdff23 | 678 | break; |
salco | 22:a2c875629f2d | 679 | default://#12 #28 |
salco | 0:e4151abdff23 | 680 | m_posLeg[0] = 150; |
salco | 0:e4151abdff23 | 681 | break; |
salco | 0:e4151abdff23 | 682 | } |
salco | 22:a2c875629f2d | 683 | if(downUP) { |
salco | 19:0ac80045ba4c | 684 | if(idLeg<5) |
salco | 19:0ac80045ba4c | 685 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1]; |
salco | 19:0ac80045ba4c | 686 | else |
salco | 19:0ac80045ba4c | 687 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1]; |
salco | 22:a2c875629f2d | 688 | } else { |
salco | 19:0ac80045ba4c | 689 | if(idLeg<5) |
salco | 19:0ac80045ba4c | 690 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1]; |
salco | 19:0ac80045ba4c | 691 | else |
salco | 19:0ac80045ba4c | 692 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1]; |
salco | 22:a2c875629f2d | 693 | } |
salco | 19:0ac80045ba4c | 694 | /*if(idOperation == 1) { |
salco | 0:e4151abdff23 | 695 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 696 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 697 | m_posLeg[2] = 210; |
salco | 0:e4151abdff23 | 698 | m_posLeg[3] = 160; |
salco | 0:e4151abdff23 | 699 | } else { |
salco | 0:e4151abdff23 | 700 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 701 | m_posLeg[2] = 90; |
salco | 0:e4151abdff23 | 702 | m_posLeg[3] = 114; |
salco | 0:e4151abdff23 | 703 | } |
salco | 0:e4151abdff23 | 704 | |
salco | 0:e4151abdff23 | 705 | } else { |
salco | 0:e4151abdff23 | 706 | if(!downUP) { |
salco | 0:e4151abdff23 | 707 | if(idOperation == 9) { |
salco | 0:e4151abdff23 | 708 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 709 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 710 | m_posLeg[2] = 100; |
salco | 0:e4151abdff23 | 711 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 712 | } else { |
salco | 0:e4151abdff23 | 713 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 714 | m_posLeg[2] = 200; |
salco | 0:e4151abdff23 | 715 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 716 | } |
salco | 0:e4151abdff23 | 717 | } |
salco | 0:e4151abdff23 | 718 | idOperation = 10 - idOperation; |
salco | 0:e4151abdff23 | 719 | } |
salco | 0:e4151abdff23 | 720 | |
salco | 0:e4151abdff23 | 721 | switch(idOperation) { |
salco | 19:0ac80045ba4c | 722 | case 1: |
salco | 0:e4151abdff23 | 723 | |
salco | 19:0ac80045ba4c | 724 | break; |
salco | 0:e4151abdff23 | 725 | case 2: |
salco | 0:e4151abdff23 | 726 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 727 | m_posLeg[1] = 80; |
salco | 0:e4151abdff23 | 728 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 729 | m_posLeg[3] = 170; |
salco | 0:e4151abdff23 | 730 | } else { |
salco | 0:e4151abdff23 | 731 | m_posLeg[1] = 220; |
salco | 0:e4151abdff23 | 732 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 733 | m_posLeg[3] = 130; |
salco | 0:e4151abdff23 | 734 | } |
salco | 0:e4151abdff23 | 735 | break; |
salco | 0:e4151abdff23 | 736 | case 3: |
salco | 0:e4151abdff23 | 737 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 738 | m_posLeg[1] = 90; |
salco | 0:e4151abdff23 | 739 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 740 | m_posLeg[3] = 160; |
salco | 0:e4151abdff23 | 741 | } else { |
salco | 0:e4151abdff23 | 742 | m_posLeg[1] = 200; |
salco | 0:e4151abdff23 | 743 | m_posLeg[2] = 200; |
salco | 0:e4151abdff23 | 744 | m_posLeg[3] = 140; |
salco | 0:e4151abdff23 | 745 | } |
salco | 0:e4151abdff23 | 746 | break; |
salco | 0:e4151abdff23 | 747 | case 4: |
salco | 0:e4151abdff23 | 748 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 749 | m_posLeg[1] = 106; |
salco | 0:e4151abdff23 | 750 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 751 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 752 | } else { |
salco | 0:e4151abdff23 | 753 | m_posLeg[1] = 195; |
salco | 0:e4151abdff23 | 754 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 755 | m_posLeg[3] = 150; |
salco | 0:e4151abdff23 | 756 | } |
salco | 0:e4151abdff23 | 757 | break; |
salco | 0:e4151abdff23 | 758 | case 5: |
salco | 0:e4151abdff23 | 759 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 760 | m_posLeg[1] = 128; |
salco | 0:e4151abdff23 | 761 | m_posLeg[2] = 220; |
salco | 0:e4151abdff23 | 762 | m_posLeg[3] = 128; |
salco | 0:e4151abdff23 | 763 | } else { |
salco | 0:e4151abdff23 | 764 | m_posLeg[1] = 172; |
salco | 0:e4151abdff23 | 765 | m_posLeg[2] = 80; |
salco | 0:e4151abdff23 | 766 | m_posLeg[3] = 173; |
salco | 0:e4151abdff23 | 767 | } |
salco | 0:e4151abdff23 | 768 | break; |
salco | 0:e4151abdff23 | 769 | case 6: |
salco | 0:e4151abdff23 | 770 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 771 | m_posLeg[1] = 144; |
salco | 0:e4151abdff23 | 772 | m_posLeg[2] = 205; |
salco | 0:e4151abdff23 | 773 | m_posLeg[3] = 130; |
salco | 0:e4151abdff23 | 774 | } else { |
salco | 0:e4151abdff23 | 775 | m_posLeg[1] = 156; |
salco | 0:e4151abdff23 | 776 | m_posLeg[2] = 95; |
salco | 0:e4151abdff23 | 777 | m_posLeg[3] = 170; |
salco | 0:e4151abdff23 | 778 | } |
salco | 0:e4151abdff23 | 779 | break; |
salco | 0:e4151abdff23 | 780 | case 7: |
salco | 0:e4151abdff23 | 781 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 782 | m_posLeg[1] = 144; |
salco | 0:e4151abdff23 | 783 | m_posLeg[2] = 211; |
salco | 0:e4151abdff23 | 784 | m_posLeg[3] = 123; |
salco | 0:e4151abdff23 | 785 | } else { |
salco | 0:e4151abdff23 | 786 | m_posLeg[1] = 156; |
salco | 0:e4151abdff23 | 787 | m_posLeg[2] = 89; |
salco | 0:e4151abdff23 | 788 | m_posLeg[3] = 177; |
salco | 0:e4151abdff23 | 789 | } |
salco | 0:e4151abdff23 | 790 | break; |
salco | 0:e4151abdff23 | 791 | case 8: |
salco | 0:e4151abdff23 | 792 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 793 | m_posLeg[1] = 172; |
salco | 0:e4151abdff23 | 794 | m_posLeg[2] = 185; |
salco | 0:e4151abdff23 | 795 | m_posLeg[3] = 124; |
salco | 0:e4151abdff23 | 796 | } else { |
salco | 0:e4151abdff23 | 797 | m_posLeg[1] = 128; |
salco | 0:e4151abdff23 | 798 | m_posLeg[2] = 115; |
salco | 0:e4151abdff23 | 799 | m_posLeg[3] = 176; |
salco | 0:e4151abdff23 | 800 | } |
salco | 0:e4151abdff23 | 801 | break; |
salco | 0:e4151abdff23 | 802 | case 9: |
salco | 0:e4151abdff23 | 803 | if(idLeg<5) { |
salco | 0:e4151abdff23 | 804 | m_posLeg[1] = 194; |
salco | 0:e4151abdff23 | 805 | m_posLeg[2] = 166; |
salco | 0:e4151abdff23 | 806 | m_posLeg[3] = 118; |
salco | 0:e4151abdff23 | 807 | } else { |
salco | 0:e4151abdff23 | 808 | m_posLeg[1] = 106; |
salco | 0:e4151abdff23 | 809 | m_posLeg[2] = 134; |
salco | 0:e4151abdff23 | 810 | m_posLeg[3] = 182; |
salco | 0:e4151abdff23 | 811 | } |
salco | 0:e4151abdff23 | 812 | break; |
salco | 19:0ac80045ba4c | 813 | default: |
salco | 19:0ac80045ba4c | 814 | m_posLeg[0] = 0; |
salco | 19:0ac80045ba4c | 815 | m_posLeg[1] = 0; |
salco | 19:0ac80045ba4c | 816 | m_posLeg[2] = 0; |
salco | 19:0ac80045ba4c | 817 | m_posLeg[3] = 0; |
salco | 19:0ac80045ba4c | 818 | break; |
salco | 0:e4151abdff23 | 819 | } |
salco | 19:0ac80045ba4c | 820 | }*/ |
salco | 0:e4151abdff23 | 821 | } |
salco | 0:e4151abdff23 | 822 | } |
salco | 0:e4151abdff23 | 823 | void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg) |
salco | 22:a2c875629f2d | 824 | { |
salco | 27:ea60d12dccdf | 825 | if(idOperation<=SIZE_SEQTURN) { |
salco | 27:ea60d12dccdf | 826 | m_posLeg[0]= 255; |
salco | 22:a2c875629f2d | 827 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqTurn[idOperation-1][idLeg-1][i-1]; |
salco | 22:a2c875629f2d | 828 | delaisNeed = (table_seqTurn_PAUSE_TIME[idOperation-1][0])*10; |
salco | 27:ea60d12dccdf | 829 | //debug("\n\r seqturn:%i",delaisNeed); |
salco | 22:a2c875629f2d | 830 | timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1]; |
salco | 22:a2c875629f2d | 831 | |
salco | 22:a2c875629f2d | 832 | switch(idOperation) { |
salco | 22:a2c875629f2d | 833 | |
salco | 22:a2c875629f2d | 834 | case 3: |
salco | 22:a2c875629f2d | 835 | switch(idLeg) { //moving hips |
salco | 22:a2c875629f2d | 836 | case 3://#8 |
salco | 22:a2c875629f2d | 837 | m_posLeg[0]= (leftRIGHT)? 180:140; |
salco | 22:a2c875629f2d | 838 | break; |
salco | 22:a2c875629f2d | 839 | case 6://#20 |
salco | 22:a2c875629f2d | 840 | m_posLeg[0]= (leftRIGHT)? 150:114; |
salco | 22:a2c875629f2d | 841 | break; |
salco | 22:a2c875629f2d | 842 | } |
salco | 22:a2c875629f2d | 843 | break; |
salco | 22:a2c875629f2d | 844 | case 11: |
salco | 22:a2c875629f2d | 845 | switch(idLeg) { //moving hips |
salco | 22:a2c875629f2d | 846 | case 1://#0 |
salco | 22:a2c875629f2d | 847 | m_posLeg[0]= (leftRIGHT)? 150:110; |
salco | 22:a2c875629f2d | 848 | break; |
salco | 27:ea60d12dccdf | 849 | case 8://28 |
salco | 22:a2c875629f2d | 850 | m_posLeg[0]= (leftRIGHT)? 164:104; |
salco | 22:a2c875629f2d | 851 | break; |
salco | 22:a2c875629f2d | 852 | } |
salco | 22:a2c875629f2d | 853 | break; |
salco | 22:a2c875629f2d | 854 | case 17: |
salco | 22:a2c875629f2d | 855 | switch(idLeg) { //moving hips |
salco | 22:a2c875629f2d | 856 | case 1://#0 |
salco | 22:a2c875629f2d | 857 | m_posLeg[0]= 140; |
salco | 22:a2c875629f2d | 858 | break; |
salco | 22:a2c875629f2d | 859 | case 2://4 |
salco | 22:a2c875629f2d | 860 | m_posLeg[0]= (leftRIGHT)? 150:176; |
salco | 22:a2c875629f2d | 861 | break; |
salco | 22:a2c875629f2d | 862 | case 3://8 |
salco | 22:a2c875629f2d | 863 | m_posLeg[0]= 160; |
salco | 22:a2c875629f2d | 864 | break; |
salco | 22:a2c875629f2d | 865 | case 6://20 |
salco | 22:a2c875629f2d | 866 | m_posLeg[0]= 133; |
salco | 22:a2c875629f2d | 867 | break; |
salco | 22:a2c875629f2d | 868 | case 7://24 |
salco | 22:a2c875629f2d | 869 | m_posLeg[0]= (leftRIGHT)? 153:183; |
salco | 22:a2c875629f2d | 870 | break; |
salco | 22:a2c875629f2d | 871 | case 8://28 |
salco | 22:a2c875629f2d | 872 | m_posLeg[0]= 133; |
salco | 22:a2c875629f2d | 873 | break; |
salco | 22:a2c875629f2d | 874 | } |
salco | 22:a2c875629f2d | 875 | if((idLeg != 4) || (idLeg != 5)) |
salco | 22:a2c875629f2d | 876 | timeSequence[idLeg-1] = 30; |
salco | 22:a2c875629f2d | 877 | |
salco | 22:a2c875629f2d | 878 | break; |
salco | 22:a2c875629f2d | 879 | |
salco | 22:a2c875629f2d | 880 | case 25: |
salco | 22:a2c875629f2d | 881 | if(idLeg == 7) |
salco | 22:a2c875629f2d | 882 | m_posLeg[0] = 170; |
salco | 22:a2c875629f2d | 883 | break; |
salco | 22:a2c875629f2d | 884 | |
salco | 22:a2c875629f2d | 885 | case 29: |
salco | 22:a2c875629f2d | 886 | if(idLeg == 2) |
salco | 22:a2c875629f2d | 887 | m_posLeg[0] = 165; |
salco | 22:a2c875629f2d | 888 | break; |
salco | 22:a2c875629f2d | 889 | //case : |
salco | 22:a2c875629f2d | 890 | //break; |
salco | 27:ea60d12dccdf | 891 | //default: |
salco | 27:ea60d12dccdf | 892 | //m_posLeg[0]= 255; |
salco | 27:ea60d12dccdf | 893 | // break; |
salco | 22:a2c875629f2d | 894 | } |
salco | 22:a2c875629f2d | 895 | |
salco | 22:a2c875629f2d | 896 | |
salco | 22:a2c875629f2d | 897 | |
salco | 22:a2c875629f2d | 898 | } else |
salco | 22:a2c875629f2d | 899 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 22:a2c875629f2d | 900 | } |
salco | 0:e4151abdff23 | 901 | void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg) |
salco | 25:f3bd72f1dd8d | 902 | { |
salco | 25:f3bd72f1dd8d | 903 | if(backFRONT) { |
salco | 27:ea60d12dccdf | 904 | if(idOperation <= SIZE_SEQFOWARD) { |
salco | 27:ea60d12dccdf | 905 | m_posLeg[0]= 255; |
salco | 25:f3bd72f1dd8d | 906 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqFoward[idOperation-1][idLeg-1][i-1]; |
salco | 25:f3bd72f1dd8d | 907 | delaisNeed = (table_seqFoward_PAUSE_TIME[idOperation-1][0])*10; |
salco | 25:f3bd72f1dd8d | 908 | timeSequence[idLeg-1] = table_seqFoward_PAUSE_TIME[idOperation-1][1]; |
salco | 25:f3bd72f1dd8d | 909 | |
salco | 25:f3bd72f1dd8d | 910 | //manque qqch ici |
salco | 27:ea60d12dccdf | 911 | switch(idOperation) { |
salco | 26:15cb45d56c28 | 912 | case 3: |
salco | 27:ea60d12dccdf | 913 | if(idLeg == 1) m_posLeg[0] = 150; |
salco | 27:ea60d12dccdf | 914 | else if(idLeg == 6) m_posLeg[0] = 123; |
salco | 27:ea60d12dccdf | 915 | break; |
salco | 27:ea60d12dccdf | 916 | |
salco | 26:15cb45d56c28 | 917 | case 5: |
salco | 27:ea60d12dccdf | 918 | if((idLeg ==1) || (idLeg==6)) |
salco | 27:ea60d12dccdf | 919 | timeSequence[idLeg-1] = 30; |
salco | 27:ea60d12dccdf | 920 | break; |
salco | 27:ea60d12dccdf | 921 | |
salco | 26:15cb45d56c28 | 922 | case 7: |
salco | 27:ea60d12dccdf | 923 | if(idLeg == 3)m_posLeg[0] = 187; |
salco | 27:ea60d12dccdf | 924 | else if(idLeg == 8) m_posLeg[0] = 123; |
salco | 27:ea60d12dccdf | 925 | break; |
salco | 27:ea60d12dccdf | 926 | |
salco | 26:15cb45d56c28 | 927 | case 11: |
salco | 27:ea60d12dccdf | 928 | switch(idLeg) { |
salco | 27:ea60d12dccdf | 929 | case 1: |
salco | 27:ea60d12dccdf | 930 | m_posLeg[0] = 130; |
salco | 27:ea60d12dccdf | 931 | break; |
salco | 27:ea60d12dccdf | 932 | case 2: |
salco | 27:ea60d12dccdf | 933 | m_posLeg[0] = 140; |
salco | 27:ea60d12dccdf | 934 | break; |
salco | 27:ea60d12dccdf | 935 | case 3: |
salco | 27:ea60d12dccdf | 936 | m_posLeg[0] = 160; |
salco | 27:ea60d12dccdf | 937 | break; |
salco | 27:ea60d12dccdf | 938 | case 4: |
salco | 27:ea60d12dccdf | 939 | m_posLeg[0] = 117; |
salco | 27:ea60d12dccdf | 940 | break; |
salco | 27:ea60d12dccdf | 941 | case 5: |
salco | 27:ea60d12dccdf | 942 | m_posLeg[0] = 179; |
salco | 27:ea60d12dccdf | 943 | break; |
salco | 27:ea60d12dccdf | 944 | case 6: |
salco | 27:ea60d12dccdf | 945 | m_posLeg[0] = 134; |
salco | 27:ea60d12dccdf | 946 | break; |
salco | 27:ea60d12dccdf | 947 | case 7: |
salco | 27:ea60d12dccdf | 948 | m_posLeg[0] = 183; |
salco | 27:ea60d12dccdf | 949 | break; |
salco | 27:ea60d12dccdf | 950 | case 8: |
salco | 27:ea60d12dccdf | 951 | m_posLeg[0] = 144; |
salco | 27:ea60d12dccdf | 952 | break; |
salco | 27:ea60d12dccdf | 953 | } |
salco | 26:15cb45d56c28 | 954 | break; |
salco | 27:ea60d12dccdf | 955 | |
salco | 27:ea60d12dccdf | 956 | case 16: |
salco | 27:ea60d12dccdf | 957 | if(idLeg == 1) m_posLeg[0] = 137; |
salco | 26:15cb45d56c28 | 958 | break; |
salco | 27:ea60d12dccdf | 959 | |
salco | 27:ea60d12dccdf | 960 | case 20: |
salco | 27:ea60d12dccdf | 961 | if(idLeg == 2) m_posLeg[0] = 176; |
salco | 27:ea60d12dccdf | 962 | else if(idLeg == 7) m_posLeg[0] = 160; |
salco | 26:15cb45d56c28 | 963 | break; |
salco | 27:ea60d12dccdf | 964 | |
salco | 27:ea60d12dccdf | 965 | case 22: |
salco | 27:ea60d12dccdf | 966 | if((idLeg ==2) || (idLeg==7)) |
salco | 27:ea60d12dccdf | 967 | timeSequence[idLeg-1] = 30; |
salco | 26:15cb45d56c28 | 968 | break; |
salco | 27:ea60d12dccdf | 969 | |
salco | 27:ea60d12dccdf | 970 | case 24: |
salco | 27:ea60d12dccdf | 971 | if(idLeg == 4) m_posLeg[0] = 174; |
salco | 27:ea60d12dccdf | 972 | else if(idLeg == 5) m_posLeg[0] = 133; |
salco | 26:15cb45d56c28 | 973 | break; |
salco | 27:ea60d12dccdf | 974 | |
salco | 27:ea60d12dccdf | 975 | case 27: |
salco | 27:ea60d12dccdf | 976 | switch(idLeg) { |
salco | 27:ea60d12dccdf | 977 | case 1: |
salco | 27:ea60d12dccdf | 978 | m_posLeg[0] = 110; |
salco | 27:ea60d12dccdf | 979 | break; |
salco | 27:ea60d12dccdf | 980 | case 2: |
salco | 27:ea60d12dccdf | 981 | m_posLeg[0] = 160; |
salco | 27:ea60d12dccdf | 982 | break; |
salco | 27:ea60d12dccdf | 983 | case 3: |
salco | 27:ea60d12dccdf | 984 | m_posLeg[0] = 140; |
salco | 27:ea60d12dccdf | 985 | break; |
salco | 27:ea60d12dccdf | 986 | case 4: |
salco | 27:ea60d12dccdf | 987 | m_posLeg[0] = 150; |
salco | 27:ea60d12dccdf | 988 | break; |
salco | 27:ea60d12dccdf | 989 | case 5: |
salco | 27:ea60d12dccdf | 990 | m_posLeg[0] = 153; |
salco | 27:ea60d12dccdf | 991 | break; |
salco | 27:ea60d12dccdf | 992 | case 6: |
salco | 27:ea60d12dccdf | 993 | m_posLeg[0] = 150; |
salco | 27:ea60d12dccdf | 994 | break; |
salco | 27:ea60d12dccdf | 995 | case 7: |
salco | 27:ea60d12dccdf | 996 | m_posLeg[0] = 173; |
salco | 27:ea60d12dccdf | 997 | break; |
salco | 27:ea60d12dccdf | 998 | case 8: |
salco | 27:ea60d12dccdf | 999 | m_posLeg[0] = 170; |
salco | 27:ea60d12dccdf | 1000 | break; |
salco | 27:ea60d12dccdf | 1001 | } |
salco | 27:ea60d12dccdf | 1002 | break; |
salco | 27:ea60d12dccdf | 1003 | |
salco | 27:ea60d12dccdf | 1004 | case 34: |
salco | 27:ea60d12dccdf | 1005 | if(idLeg == 1) m_posLeg[0] = 130; |
salco | 27:ea60d12dccdf | 1006 | break; |
salco | 27:ea60d12dccdf | 1007 | |
salco | 27:ea60d12dccdf | 1008 | case 38: |
salco | 27:ea60d12dccdf | 1009 | if(idLeg == 5) m_posLeg[0] = 153;//165; |
salco | 27:ea60d12dccdf | 1010 | break; |
salco | 27:ea60d12dccdf | 1011 | |
salco | 27:ea60d12dccdf | 1012 | case 42: |
salco | 27:ea60d12dccdf | 1013 | if(idLeg == 2) m_posLeg[0] = 165; |
salco | 27:ea60d12dccdf | 1014 | break; |
salco | 26:15cb45d56c28 | 1015 | } |
salco | 25:f3bd72f1dd8d | 1016 | } else |
salco | 25:f3bd72f1dd8d | 1017 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 25:f3bd72f1dd8d | 1018 | |
salco | 25:f3bd72f1dd8d | 1019 | } else { |
salco | 27:ea60d12dccdf | 1020 | if(idOperation <= SIZE_SEQBACKWARD) { |
salco | 27:ea60d12dccdf | 1021 | m_posLeg[0]= 255; |
salco | 25:f3bd72f1dd8d | 1022 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqBackward[idOperation-1][idLeg-1][i-1]; |
salco | 25:f3bd72f1dd8d | 1023 | delaisNeed = (table_seqBackward_PAUSE_TIME[idOperation-1][0])*10; |
salco | 25:f3bd72f1dd8d | 1024 | timeSequence[idLeg-1] = table_seqBackward_PAUSE_TIME[idOperation-1][1]; |
salco | 25:f3bd72f1dd8d | 1025 | |
salco | 25:f3bd72f1dd8d | 1026 | //manque qqch ici |
salco | 27:ea60d12dccdf | 1027 | switch(idOperation) { |
salco | 27:ea60d12dccdf | 1028 | case 3: |
salco | 27:ea60d12dccdf | 1029 | if(idLeg == 3) m_posLeg[0] = 140; |
salco | 27:ea60d12dccdf | 1030 | else if(idLeg == 8) m_posLeg[0] = 170; |
salco | 27:ea60d12dccdf | 1031 | break; |
salco | 27:ea60d12dccdf | 1032 | |
salco | 27:ea60d12dccdf | 1033 | case 5: |
salco | 27:ea60d12dccdf | 1034 | if((idLeg ==3) || (idLeg==8)) |
salco | 27:ea60d12dccdf | 1035 | timeSequence[idLeg-1] = 30; |
salco | 27:ea60d12dccdf | 1036 | break; |
salco | 27:ea60d12dccdf | 1037 | |
salco | 27:ea60d12dccdf | 1038 | case 7: |
salco | 27:ea60d12dccdf | 1039 | if(idLeg == 1)m_posLeg[0] = 110; |
salco | 27:ea60d12dccdf | 1040 | else if(idLeg == 6) m_posLeg[0] = 150; |
salco | 27:ea60d12dccdf | 1041 | break; |
salco | 27:ea60d12dccdf | 1042 | |
salco | 27:ea60d12dccdf | 1043 | case 11: |
salco | 27:ea60d12dccdf | 1044 | switch(idLeg) { |
salco | 27:ea60d12dccdf | 1045 | case 1: |
salco | 27:ea60d12dccdf | 1046 | m_posLeg[0] = 130; |
salco | 27:ea60d12dccdf | 1047 | break; |
salco | 27:ea60d12dccdf | 1048 | case 2: |
salco | 27:ea60d12dccdf | 1049 | m_posLeg[0] = 176; |
salco | 27:ea60d12dccdf | 1050 | break; |
salco | 27:ea60d12dccdf | 1051 | case 3: |
salco | 27:ea60d12dccdf | 1052 | m_posLeg[0] = 160; |
salco | 27:ea60d12dccdf | 1053 | break; |
salco | 27:ea60d12dccdf | 1054 | case 4: |
salco | 27:ea60d12dccdf | 1055 | m_posLeg[0] = 174; |
salco | 27:ea60d12dccdf | 1056 | break; |
salco | 27:ea60d12dccdf | 1057 | case 5: |
salco | 27:ea60d12dccdf | 1058 | m_posLeg[0] = 133; |
salco | 27:ea60d12dccdf | 1059 | break; |
salco | 27:ea60d12dccdf | 1060 | case 6: |
salco | 27:ea60d12dccdf | 1061 | m_posLeg[0] = 134; |
salco | 27:ea60d12dccdf | 1062 | break; |
salco | 27:ea60d12dccdf | 1063 | case 7: |
salco | 27:ea60d12dccdf | 1064 | m_posLeg[0] = 160; |
salco | 27:ea60d12dccdf | 1065 | break; |
salco | 27:ea60d12dccdf | 1066 | case 8: |
salco | 27:ea60d12dccdf | 1067 | m_posLeg[0] = 144; |
salco | 27:ea60d12dccdf | 1068 | break; |
salco | 27:ea60d12dccdf | 1069 | } |
salco | 27:ea60d12dccdf | 1070 | break; |
salco | 27:ea60d12dccdf | 1071 | |
salco | 27:ea60d12dccdf | 1072 | case 13: |
salco | 27:ea60d12dccdf | 1073 | if(idLeg == 8) m_posLeg[0] = 144; |
salco | 27:ea60d12dccdf | 1074 | break; |
salco | 27:ea60d12dccdf | 1075 | |
salco | 27:ea60d12dccdf | 1076 | case 17: |
salco | 27:ea60d12dccdf | 1077 | if(idLeg == 6) m_posLeg[0] = 133; |
salco | 27:ea60d12dccdf | 1078 | break; |
salco | 27:ea60d12dccdf | 1079 | |
salco | 27:ea60d12dccdf | 1080 | case 22: |
salco | 27:ea60d12dccdf | 1081 | if(idLeg == 4) m_posLeg[0] = 117; |
salco | 27:ea60d12dccdf | 1082 | else if(idLeg == 5) m_posLeg[0] = 179; |
salco | 27:ea60d12dccdf | 1083 | break; |
salco | 27:ea60d12dccdf | 1084 | |
salco | 27:ea60d12dccdf | 1085 | case 24: |
salco | 27:ea60d12dccdf | 1086 | if((idLeg ==4) || (idLeg==5)) |
salco | 27:ea60d12dccdf | 1087 | timeSequence[idLeg-1] = 45; |
salco | 27:ea60d12dccdf | 1088 | break; |
salco | 27:ea60d12dccdf | 1089 | |
salco | 27:ea60d12dccdf | 1090 | case 26: |
salco | 27:ea60d12dccdf | 1091 | if(idLeg == 2) m_posLeg[0] = 140; |
salco | 27:ea60d12dccdf | 1092 | else if(idLeg == 7) m_posLeg[0] = 190; |
salco | 27:ea60d12dccdf | 1093 | break; |
salco | 27:ea60d12dccdf | 1094 | |
salco | 27:ea60d12dccdf | 1095 | case 29: |
salco | 27:ea60d12dccdf | 1096 | switch(idLeg) { |
salco | 27:ea60d12dccdf | 1097 | case 1: |
salco | 27:ea60d12dccdf | 1098 | m_posLeg[0] = 150; |
salco | 27:ea60d12dccdf | 1099 | break; |
salco | 27:ea60d12dccdf | 1100 | case 2: |
salco | 27:ea60d12dccdf | 1101 | m_posLeg[0] = 160; |
salco | 27:ea60d12dccdf | 1102 | break; |
salco | 27:ea60d12dccdf | 1103 | case 3: |
salco | 27:ea60d12dccdf | 1104 | m_posLeg[0] = 187; |
salco | 27:ea60d12dccdf | 1105 | break; |
salco | 27:ea60d12dccdf | 1106 | case 4: |
salco | 27:ea60d12dccdf | 1107 | m_posLeg[0] = 150; |
salco | 27:ea60d12dccdf | 1108 | break; |
salco | 27:ea60d12dccdf | 1109 | case 5: |
salco | 27:ea60d12dccdf | 1110 | m_posLeg[0] = 153; |
salco | 27:ea60d12dccdf | 1111 | break; |
salco | 27:ea60d12dccdf | 1112 | case 6: |
salco | 27:ea60d12dccdf | 1113 | m_posLeg[0] = 123; |
salco | 27:ea60d12dccdf | 1114 | break; |
salco | 27:ea60d12dccdf | 1115 | case 7: |
salco | 27:ea60d12dccdf | 1116 | m_posLeg[0] = 173; |
salco | 27:ea60d12dccdf | 1117 | break; |
salco | 27:ea60d12dccdf | 1118 | case 8: |
salco | 27:ea60d12dccdf | 1119 | m_posLeg[0] = 123; |
salco | 27:ea60d12dccdf | 1120 | break; |
salco | 27:ea60d12dccdf | 1121 | } |
salco | 27:ea60d12dccdf | 1122 | break; |
salco | 27:ea60d12dccdf | 1123 | |
salco | 27:ea60d12dccdf | 1124 | case 33: |
salco | 27:ea60d12dccdf | 1125 | if(idLeg == 4) m_posLeg[0] = 150; |
salco | 27:ea60d12dccdf | 1126 | break; |
salco | 27:ea60d12dccdf | 1127 | |
salco | 27:ea60d12dccdf | 1128 | /*case 38: |
salco | 27:ea60d12dccdf | 1129 | if(idLeg == 5) m_posLeg[0] = 165; |
salco | 27:ea60d12dccdf | 1130 | break; |
salco | 27:ea60d12dccdf | 1131 | |
salco | 27:ea60d12dccdf | 1132 | case 42: |
salco | 27:ea60d12dccdf | 1133 | if(idLeg == 1) m_posLeg[0] = 165; |
salco | 27:ea60d12dccdf | 1134 | break;*/ |
salco | 27:ea60d12dccdf | 1135 | } |
salco | 25:f3bd72f1dd8d | 1136 | } else |
salco | 25:f3bd72f1dd8d | 1137 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 25:f3bd72f1dd8d | 1138 | } |
salco | 25:f3bd72f1dd8d | 1139 | } |
salco | 0:e4151abdff23 | 1140 | void homemadeSequence::seqRepositioner(char idOperation,char idLeg) |
salco | 22:a2c875629f2d | 1141 | { |
salco | 27:ea60d12dccdf | 1142 | if(idOperation <= SIZE_SEQREPOSITIONNE) { |
salco | 27:ea60d12dccdf | 1143 | m_posLeg[0]= 255; |
salco | 27:ea60d12dccdf | 1144 | delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10; |
salco | 22:a2c875629f2d | 1145 | if(m_idLegUse == idLeg) { |
salco | 22:a2c875629f2d | 1146 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqRepositionne[idOperation-1][idLeg-1][i-1]; |
salco | 22:a2c875629f2d | 1147 | |
salco | 27:ea60d12dccdf | 1148 | timeSequence[idLeg-1] = table_seqRepositionne_PAUSE_TIME[idOperation-1][1]; |
salco | 22:a2c875629f2d | 1149 | |
salco | 22:a2c875629f2d | 1150 | if(idOperation == 5) { |
salco | 22:a2c875629f2d | 1151 | switch(idLeg) { |
salco | 22:a2c875629f2d | 1152 | case 1: |
salco | 22:a2c875629f2d | 1153 | m_posLeg[0] = 137; |
salco | 22:a2c875629f2d | 1154 | break; |
salco | 22:a2c875629f2d | 1155 | case 2: |
salco | 22:a2c875629f2d | 1156 | m_posLeg[0] = 165; |
salco | 22:a2c875629f2d | 1157 | break; |
salco | 22:a2c875629f2d | 1158 | case 3: |
salco | 22:a2c875629f2d | 1159 | m_posLeg[0] = 160; |
salco | 22:a2c875629f2d | 1160 | break; |
salco | 22:a2c875629f2d | 1161 | case 4: |
salco | 22:a2c875629f2d | 1162 | m_posLeg[0] = 150; |
salco | 22:a2c875629f2d | 1163 | break; |
salco | 22:a2c875629f2d | 1164 | case 5: |
salco | 22:a2c875629f2d | 1165 | m_posLeg[0] = 153; |
salco | 22:a2c875629f2d | 1166 | break; |
salco | 22:a2c875629f2d | 1167 | case 6: |
salco | 22:a2c875629f2d | 1168 | m_posLeg[0] = 133; |
salco | 22:a2c875629f2d | 1169 | break; |
salco | 22:a2c875629f2d | 1170 | case 7: |
salco | 22:a2c875629f2d | 1171 | m_posLeg[0] = 170; |
salco | 22:a2c875629f2d | 1172 | break; |
salco | 22:a2c875629f2d | 1173 | case 8: |
salco | 22:a2c875629f2d | 1174 | m_posLeg[0] = 144; |
salco | 22:a2c875629f2d | 1175 | break; |
salco | 22:a2c875629f2d | 1176 | } |
salco | 22:a2c875629f2d | 1177 | } |
salco | 22:a2c875629f2d | 1178 | |
salco | 22:a2c875629f2d | 1179 | } else |
salco | 27:ea60d12dccdf | 1180 | for(int i=0; i < 4; i++)m_posLeg[i]=255; |
salco | 27:ea60d12dccdf | 1181 | |
salco | 22:a2c875629f2d | 1182 | } else |
salco | 27:ea60d12dccdf | 1183 | for(int i=0; i < 4; i++) m_posLeg[i]=0; |
salco | 22:a2c875629f2d | 1184 | } |
salco | 0:e4151abdff23 | 1185 | void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg) |
salco | 21:5c17b7836733 | 1186 | { |
salco | 27:ea60d12dccdf | 1187 | if(idOperation<=SIZE_SEQCRABE) { |
salco | 27:ea60d12dccdf | 1188 | m_posLeg[0]= 255; |
salco | 27:ea60d12dccdf | 1189 | delaisNeed = 300;//DELAITESTE;//(table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10; |
salco | 27:ea60d12dccdf | 1190 | timeSequence[idLeg-1] = 30; |
salco | 22:a2c875629f2d | 1191 | if(leftRIGHT) |
salco | 27:ea60d12dccdf | 1192 | idOperation=SIZE_SEQCRABE-idOperation; |
salco | 22:a2c875629f2d | 1193 | |
salco | 21:5c17b7836733 | 1194 | switch(idLeg) { //moving hips |
salco | 21:5c17b7836733 | 1195 | case 1: |
salco | 21:5c17b7836733 | 1196 | m_posLeg[0] = 140; |
salco | 21:5c17b7836733 | 1197 | break; |
salco | 21:5c17b7836733 | 1198 | case 2: |
salco | 21:5c17b7836733 | 1199 | m_posLeg[0] = 165; |
salco | 21:5c17b7836733 | 1200 | break; |
salco | 21:5c17b7836733 | 1201 | case 3: |
salco | 21:5c17b7836733 | 1202 | m_posLeg[0] = 160; |
salco | 21:5c17b7836733 | 1203 | break; |
salco | 21:5c17b7836733 | 1204 | case 6: |
salco | 21:5c17b7836733 | 1205 | m_posLeg[0] = 133; |
salco | 21:5c17b7836733 | 1206 | break; |
salco | 21:5c17b7836733 | 1207 | case 7: |
salco | 21:5c17b7836733 | 1208 | m_posLeg[0] = 170; |
salco | 21:5c17b7836733 | 1209 | break; |
salco | 21:5c17b7836733 | 1210 | default: |
salco | 21:5c17b7836733 | 1211 | m_posLeg[0] = 150; |
salco | 21:5c17b7836733 | 1212 | break; |
salco | 21:5c17b7836733 | 1213 | } |
salco | 22:a2c875629f2d | 1214 | |
salco | 21:5c17b7836733 | 1215 | for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqCrabe[idOperation-1][idLeg-1][i-1]; |
salco | 22:a2c875629f2d | 1216 | |
salco | 22:a2c875629f2d | 1217 | |
salco | 21:5c17b7836733 | 1218 | //inclure ici un truc de gestion des 0 parce que sa veux pas dire erreur mais juste pas changer cette patte la a ce frame la |
salco | 22:a2c875629f2d | 1219 | } else |
salco | 22:a2c875629f2d | 1220 | for(int i=0; i <= 3; i++) m_posLeg[i]=0; |
salco | 22:a2c875629f2d | 1221 | |
salco | 22:a2c875629f2d | 1222 | |
salco | 21:5c17b7836733 | 1223 | } |
salco | 27:ea60d12dccdf | 1224 | void homemadeSequence::defaultPosition(char idLeg) |
salco | 27:ea60d12dccdf | 1225 | { |
salco | 27:ea60d12dccdf | 1226 | if(m_idFrame == 1) { |
salco | 27:ea60d12dccdf | 1227 | timeSequence[idLeg-1] = 50; |
salco | 27:ea60d12dccdf | 1228 | for(int i=0;i<4;i++) m_posLeg[i]=table_seqDefaultPos[idLeg-1][i]; |
salco | 27:ea60d12dccdf | 1229 | } |
salco | 27:ea60d12dccdf | 1230 | else |
salco | 27:ea60d12dccdf | 1231 | for(int i=0;i<4;i++) m_posLeg[i]= 0; |
salco | 27:ea60d12dccdf | 1232 | } |
salco | 0:e4151abdff23 | 1233 | bool homemadeSequence::next_frame(void) |
salco | 0:e4151abdff23 | 1234 | { |
salco | 19:0ac80045ba4c | 1235 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame"); |
salco | 27:ea60d12dccdf | 1236 | bool result=false; |
salco | 19:0ac80045ba4c | 1237 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 27:ea60d12dccdf | 1238 | int tmpDelais=delaisNeed; |
salco | 22:a2c875629f2d | 1239 | |
salco | 19:0ac80045ba4c | 1240 | //if(m_idFrame > 1){ |
salco | 0:e4151abdff23 | 1241 | m_idFrame++; |
salco | 19:0ac80045ba4c | 1242 | unsigned char* tmpTable = get_frame(1); |
salco | 0:e4151abdff23 | 1243 | |
salco | 27:ea60d12dccdf | 1244 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r Leg1:"); |
salco | 27:ea60d12dccdf | 1245 | for(int i=0; i<4; i++)debug(DEBUG_HOMEMADE_NEXTFRAME,"[%i]",tmpTable[i]); |
salco | 27:ea60d12dccdf | 1246 | |
salco | 22:a2c875629f2d | 1247 | if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) { |
salco | 27:ea60d12dccdf | 1248 | result=true; |
salco | 22:a2c875629f2d | 1249 | //m_idFrame++;//get_frame(m_idFrame); |
salco | 27:ea60d12dccdf | 1250 | /*if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) { |
salco | 22:a2c875629f2d | 1251 | delaisNextSeq.reset(); |
salco | 27:ea60d12dccdf | 1252 | delaisNeed=-1;*/ |
salco | 27:ea60d12dccdf | 1253 | for(int i=0; i<8; i++)timeSequence[i]=255; |
salco | 27:ea60d12dccdf | 1254 | //} else |
salco | 27:ea60d12dccdf | 1255 | // m_idFrame--; |
salco | 22:a2c875629f2d | 1256 | } else |
salco | 19:0ac80045ba4c | 1257 | m_idFrame--; |
salco | 19:0ac80045ba4c | 1258 | |
salco | 19:0ac80045ba4c | 1259 | //} |
salco | 19:0ac80045ba4c | 1260 | //} |
salco | 27:ea60d12dccdf | 1261 | delaisNeed=tmpDelais; |
salco | 27:ea60d12dccdf | 1262 | |
salco | 19:0ac80045ba4c | 1263 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 1264 | debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame"); |
salco | 22:a2c875629f2d | 1265 | |
salco | 27:ea60d12dccdf | 1266 | return result; |
salco | 0:e4151abdff23 | 1267 | } |
salco | 19:0ac80045ba4c | 1268 | bool homemadeSequence::prev_frame(void) //true == prev is ok |
salco | 0:e4151abdff23 | 1269 | { |
salco | 19:0ac80045ba4c | 1270 | //false == impossible |
salco | 19:0ac80045ba4c | 1271 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame"); |
salco | 27:ea60d12dccdf | 1272 | bool result=false; |
salco | 19:0ac80045ba4c | 1273 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 1274 | |
salco | 22:a2c875629f2d | 1275 | |
salco | 19:0ac80045ba4c | 1276 | if(m_idFrame > 1) { |
salco | 19:0ac80045ba4c | 1277 | m_idFrame--; |
salco | 19:0ac80045ba4c | 1278 | unsigned char* tmpTable = get_frame(1); |
salco | 0:e4151abdff23 | 1279 | |
salco | 22:a2c875629f2d | 1280 | if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) { |
salco | 27:ea60d12dccdf | 1281 | result=true; |
salco | 22:a2c875629f2d | 1282 | //m_idFrame++;//get_frame(m_idFrame); |
salco | 27:ea60d12dccdf | 1283 | /*if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) { |
salco | 27:ea60d12dccdf | 1284 | delaisNextSeq.reset();*/ |
salco | 27:ea60d12dccdf | 1285 | delaisNeed=-1; |
salco | 27:ea60d12dccdf | 1286 | for(int i=0; i<8; i++)timeSequence[i]=255; |
salco | 27:ea60d12dccdf | 1287 | //} else |
salco | 27:ea60d12dccdf | 1288 | // m_idFrame++; |
salco | 22:a2c875629f2d | 1289 | } else |
salco | 19:0ac80045ba4c | 1290 | m_idFrame++; |
salco | 19:0ac80045ba4c | 1291 | |
salco | 19:0ac80045ba4c | 1292 | //} |
salco | 19:0ac80045ba4c | 1293 | } |
salco | 19:0ac80045ba4c | 1294 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame); |
salco | 19:0ac80045ba4c | 1295 | debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame"); |
salco | 22:a2c875629f2d | 1296 | |
salco | 27:ea60d12dccdf | 1297 | return result; |
salco | 0:e4151abdff23 | 1298 | } |