![](/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/mouvement.h@36:474d4795aafa, 2015-09-13 (annotated)
- Committer:
- salco
- Date:
- Sun Sep 13 06:56:09 2015 +0000
- Revision:
- 36:474d4795aafa
- Parent:
- 28:ac5c6350ed9a
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 | * mouvement.h |
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 | |
salco | 0:e4151abdff23 | 8 | /* |
salco | 0:e4151abdff23 | 9 | * Theraphosa Salconi |
salco | 0:e4151abdff23 | 10 | * |
salco | 0:e4151abdff23 | 11 | * Jambes[coxa/fermur/tibia/tars]+numeroMoteur: |
salco | 0:e4151abdff23 | 12 | * |
salco | 0:e4151abdff23 | 13 | * Arr-D: [0,1,2,3] |
salco | 0:e4151abdff23 | 14 | * Arr-G: [16,17,18,19] |
salco | 0:e4151abdff23 | 15 | * Arr-Mil-D: [4,5,6,7] |
salco | 0:e4151abdff23 | 16 | * Arr-Mil-G: [20,21,22,23] |
salco | 0:e4151abdff23 | 17 | * Avv-Mil-D: [8,9,10,11] |
salco | 0:e4151abdff23 | 18 | * Avv-Mil-G: [24,25,26,27] |
salco | 0:e4151abdff23 | 19 | * Avv-D: [12,13,14,15] |
salco | 0:e4151abdff23 | 20 | * Avv-G: [28,29,30,31] |
salco | 0:e4151abdff23 | 21 | * |
salco | 0:e4151abdff23 | 22 | */ |
salco | 0:e4151abdff23 | 23 | #ifndef MOUVEMENT_H_ |
salco | 0:e4151abdff23 | 24 | #define MOUVEMENT_H_ |
salco | 0:e4151abdff23 | 25 | |
salco | 22:a2c875629f2d | 26 | |
salco | 27:ea60d12dccdf | 27 | #define DEBUG_MOUVEMENT 0/*1*/ |
salco | 27:ea60d12dccdf | 28 | #define DEBUG_EXEC 0/*1*/ |
salco | 27:ea60d12dccdf | 29 | #define DEBUG_SENDSEQ 0/*1*/ |
salco | 28:ac5c6350ed9a | 30 | #define DEBUG |
salco | 0:e4151abdff23 | 31 | |
salco | 0:e4151abdff23 | 32 | #include "mbed.h" |
salco | 0:e4151abdff23 | 33 | //#include <string> |
salco | 19:0ac80045ba4c | 34 | #include "debug.h" |
salco | 0:e4151abdff23 | 35 | //#include <stdio.h> |
salco | 0:e4151abdff23 | 36 | #include "Patte.h" |
salco | 0:e4151abdff23 | 37 | #include "homemadeSequence.h" |
salco | 0:e4151abdff23 | 38 | |
salco | 0:e4151abdff23 | 39 | |
salco | 0:e4151abdff23 | 40 | class Faculter_motrice |
salco | 0:e4151abdff23 | 41 | { |
salco | 0:e4151abdff23 | 42 | Serial* m_com; |
salco | 0:e4151abdff23 | 43 | homemadeSequence* m_seq; |
salco | 27:ea60d12dccdf | 44 | Timer delaisNextSeq; |
salco | 0:e4151abdff23 | 45 | |
salco | 0:e4151abdff23 | 46 | Patte *m_arr_D; |
salco | 0:e4151abdff23 | 47 | char m_SequenceID_arr_D; |
salco | 0:e4151abdff23 | 48 | Patte *m_arr_mil_D; |
salco | 0:e4151abdff23 | 49 | char m_SequenceID_arr_mil_D; |
salco | 0:e4151abdff23 | 50 | Patte *m_arr_G; |
salco | 0:e4151abdff23 | 51 | char m_SequenceID_arr_G; |
salco | 0:e4151abdff23 | 52 | Patte *m_arr_mil_G; |
salco | 0:e4151abdff23 | 53 | char m_SequenceID_arr_mil_G; |
salco | 0:e4151abdff23 | 54 | Patte *m_avv_D; |
salco | 0:e4151abdff23 | 55 | char m_SequenceID_avv_D; |
salco | 0:e4151abdff23 | 56 | Patte *m_avv_mil_D; |
salco | 0:e4151abdff23 | 57 | char m_SequenceID_avv_mil_D; |
salco | 0:e4151abdff23 | 58 | Patte *m_avv_G; |
salco | 0:e4151abdff23 | 59 | char m_SequenceID_avv_G; |
salco | 0:e4151abdff23 | 60 | Patte *m_avv_mil_G; |
salco | 0:e4151abdff23 | 61 | char m_SequenceID_avv_mil_G; |
salco | 27:ea60d12dccdf | 62 | |
salco | 0:e4151abdff23 | 63 | // Flag // |
salco | 0:e4151abdff23 | 64 | bool m_ForceStop; // use when you want pause the motion |
salco | 0:e4151abdff23 | 65 | bool m_CriticalStop; // use to turn off all legs |
salco | 0:e4151abdff23 | 66 | bool m_SeqChange; |
salco | 0:e4151abdff23 | 67 | |
salco | 0:e4151abdff23 | 68 | // // |
salco | 0:e4151abdff23 | 69 | // char m_SequenceChosen; |
salco | 0:e4151abdff23 | 70 | // A enlever au plus vite car sa prend beaucoup d'espace // |
salco | 0:e4151abdff23 | 71 | |
salco | 19:0ac80045ba4c | 72 | void sendSequence(void); |
salco | 0:e4151abdff23 | 73 | public: |
salco | 0:e4151abdff23 | 74 | #ifdef DEBUG |
salco | 28:ac5c6350ed9a | 75 | |
salco | 28:ac5c6350ed9a | 76 | #endif |
salco | 0:e4151abdff23 | 77 | char get_idSeq(void){return m_seq->get_Sequence();} |
salco | 28:ac5c6350ed9a | 78 | char get_idFrame(void){return m_seq->get_frame();} |
salco | 28:ac5c6350ed9a | 79 | void set_idSeq(char value){m_seq->set_frameID(value);} |
salco | 28:ac5c6350ed9a | 80 | |
salco | 28:ac5c6350ed9a | 81 | |
salco | 0:e4151abdff23 | 82 | Faculter_motrice(Serial* com); |
salco | 0:e4151abdff23 | 83 | virtual ~Faculter_motrice(); |
salco | 20:c825e7b07af7 | 84 | |
salco | 27:ea60d12dccdf | 85 | bool isSeqComplet(void){return m_ForceStop;} |
salco | 0:e4151abdff23 | 86 | void exec(void); |
salco | 0:e4151abdff23 | 87 | void stop(void) { |
salco | 0:e4151abdff23 | 88 | m_ForceStop= true; |
salco | 0:e4151abdff23 | 89 | } |
salco | 0:e4151abdff23 | 90 | void resume(void) { |
salco | 0:e4151abdff23 | 91 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 92 | m_CriticalStop=false; |
salco | 27:ea60d12dccdf | 93 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 94 | } |
salco | 0:e4151abdff23 | 95 | void crit_stop(void); |
salco | 0:e4151abdff23 | 96 | |
salco | 0:e4151abdff23 | 97 | void moveLeft (void) { |
salco | 19:0ac80045ba4c | 98 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 99 | m_seq->set_Sequence(9); |
salco | 27:ea60d12dccdf | 100 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 101 | } |
salco | 0:e4151abdff23 | 102 | void moveRight(void){ |
salco | 19:0ac80045ba4c | 103 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 104 | m_seq->set_Sequence(10); |
salco | 27:ea60d12dccdf | 105 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 106 | } |
salco | 0:e4151abdff23 | 107 | void moveUp (void){ |
salco | 19:0ac80045ba4c | 108 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 109 | m_seq->set_Sequence(2); |
salco | 27:ea60d12dccdf | 110 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 111 | } |
salco | 0:e4151abdff23 | 112 | void moveDown (void){ |
salco | 19:0ac80045ba4c | 113 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 114 | m_seq->set_Sequence(3); |
salco | 27:ea60d12dccdf | 115 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 116 | } |
salco | 0:e4151abdff23 | 117 | void moveFront(void){ |
salco | 19:0ac80045ba4c | 118 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 119 | m_seq->set_Sequence(6); |
salco | 27:ea60d12dccdf | 120 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 121 | } |
salco | 0:e4151abdff23 | 122 | void moveBack (void){ |
salco | 19:0ac80045ba4c | 123 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 124 | m_seq->set_Sequence(7); |
salco | 27:ea60d12dccdf | 125 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 126 | } |
salco | 0:e4151abdff23 | 127 | void turnLeft (void){ |
salco | 19:0ac80045ba4c | 128 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 129 | m_seq->set_Sequence(4); |
salco | 27:ea60d12dccdf | 130 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 131 | } |
salco | 0:e4151abdff23 | 132 | void trunRight(void){ |
salco | 19:0ac80045ba4c | 133 | m_ForceStop=false; |
salco | 0:e4151abdff23 | 134 | m_seq->set_Sequence(5); |
salco | 27:ea60d12dccdf | 135 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 136 | } |
salco | 27:ea60d12dccdf | 137 | void calibre (){ |
salco | 19:0ac80045ba4c | 138 | m_ForceStop=false; |
salco | 27:ea60d12dccdf | 139 | m_seq->set_Sequence(11); |
salco | 27:ea60d12dccdf | 140 | delaisNextSeq.start(); |
salco | 27:ea60d12dccdf | 141 | } |
salco | 27:ea60d12dccdf | 142 | void repositioner(char idLeg){ |
salco | 27:ea60d12dccdf | 143 | m_ForceStop=false; |
salco | 22:a2c875629f2d | 144 | m_seq->set_leg(idLeg); |
salco | 27:ea60d12dccdf | 145 | m_seq->set_Sequence(8); |
salco | 27:ea60d12dccdf | 146 | delaisNextSeq.start(); |
salco | 0:e4151abdff23 | 147 | } |
salco | 0:e4151abdff23 | 148 | |
salco | 0:e4151abdff23 | 149 | |
salco | 0:e4151abdff23 | 150 | |
salco | 0:e4151abdff23 | 151 | }; |
salco | 2:4c5b0f6d0a6b | 152 | extern Faculter_motrice *ptrFaculterMotrice; |
salco | 0:e4151abdff23 | 153 | #endif /* MOUVEMENT_H_ */ |