Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

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@2:4c5b0f6d0a6b, 2015-03-12 (annotated)

Committer:
salco
Date:
Thu Mar 12 00:40:43 2015 +0000
Revision:
2:4c5b0f6d0a6b
Parent:
source/motrice/homemadeSequence.cpp@1:25ea21da4542
Child:
19:0ac80045ba4c
Ebauche qui compile reste a bien structurer. Jai fini leritage des tache reste la creation dans le main.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 0:e4151abdff23 1 /*
salco 0:e4151abdff23 2 * homemadeSequence.cpp
salco 0:e4151abdff23 3 *
salco 0:e4151abdff23 4 * Created on: Mar 03, 2015
salco 0:e4151abdff23 5 * Author: salco
salco 0:e4151abdff23 6 */
salco 0:e4151abdff23 7 #include "homemadeSequence.h"
salco 0:e4151abdff23 8 homemadeSequence::homemadeSequence()
salco 0:e4151abdff23 9 {
salco 0:e4151abdff23 10 m_SequenceChosen=0;
salco 0:e4151abdff23 11 m_idFrame=0;
salco 0:e4151abdff23 12 }
salco 0:e4151abdff23 13 homemadeSequence::~homemadeSequence()
salco 0:e4151abdff23 14 {
salco 0:e4151abdff23 15
salco 0:e4151abdff23 16 }
salco 0:e4151abdff23 17 unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg)
salco 0:e4151abdff23 18 {
salco 0:e4151abdff23 19 m_posLeg[0] = 0;
salco 0:e4151abdff23 20 m_posLeg[1] = 0;
salco 0:e4151abdff23 21 m_posLeg[2] = 0;
salco 0:e4151abdff23 22 m_posLeg[3] = 0;
salco 0:e4151abdff23 23
salco 0:e4151abdff23 24 switch(m_SequenceChosen) {
salco 0:e4151abdff23 25 case 1:// 01 - Calibration(milieu) //
salco 0:e4151abdff23 26 if(m_idFrame == 1) {//if(idOperation == 1) {
salco 0:e4151abdff23 27 m_posLeg[0] = 150;
salco 0:e4151abdff23 28 m_posLeg[1] = 150;
salco 0:e4151abdff23 29 m_posLeg[2] = 150;
salco 0:e4151abdff23 30 m_posLeg[3] = 150;
salco 0:e4151abdff23 31 }
salco 0:e4151abdff23 32 break;
salco 0:e4151abdff23 33
salco 0:e4151abdff23 34 case 2:// 02 - Debout //
salco 0:e4151abdff23 35 seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg);
salco 0:e4151abdff23 36 break;
salco 0:e4151abdff23 37 case 3:// 03 - Coucher //
salco 0:e4151abdff23 38 seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg);
salco 0:e4151abdff23 39 break;
salco 0:e4151abdff23 40 case 4:// 04 - Tourne Gauche //
salco 0:e4151abdff23 41 break;
salco 0:e4151abdff23 42 case 5:// 05 - Tourne Droite //
salco 0:e4151abdff23 43 break;
salco 0:e4151abdff23 44 case 6:// 06 - Marche //
salco 0:e4151abdff23 45 break;
salco 0:e4151abdff23 46 case 7:// 07 - Recule //
salco 0:e4151abdff23 47 break;
salco 0:e4151abdff23 48 case 8:// 07 - Repositioner //
salco 0:e4151abdff23 49 break;
salco 0:e4151abdff23 50 case 9:// 09 - Crabe Gauche //
salco 0:e4151abdff23 51 break;
salco 0:e4151abdff23 52 case 10:// 10 - Crabe Droite //
salco 0:e4151abdff23 53 break;
salco 0:e4151abdff23 54 }
salco 0:e4151abdff23 55 return m_posLeg;
salco 0:e4151abdff23 56 }
salco 0:e4151abdff23 57
salco 0:e4151abdff23 58 void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg)
salco 0:e4151abdff23 59 {
salco 0:e4151abdff23 60 if((idOperation<10)&&(idOperation>0)) {
salco 0:e4151abdff23 61 switch(idLeg) {
salco 0:e4151abdff23 62 case 1:
salco 0:e4151abdff23 63 m_posLeg[0] = 140;
salco 0:e4151abdff23 64 break;
salco 0:e4151abdff23 65 case 2:
salco 0:e4151abdff23 66 m_posLeg[0] = 165;
salco 0:e4151abdff23 67 break;
salco 0:e4151abdff23 68 case 3:
salco 0:e4151abdff23 69 m_posLeg[0] = 160;
salco 0:e4151abdff23 70 break;
salco 0:e4151abdff23 71 case 6:
salco 0:e4151abdff23 72 m_posLeg[0] = 133;
salco 0:e4151abdff23 73 break;
salco 0:e4151abdff23 74 case 7:
salco 0:e4151abdff23 75 m_posLeg[0] = 170;
salco 0:e4151abdff23 76 break;
salco 0:e4151abdff23 77 default:
salco 0:e4151abdff23 78 m_posLeg[0] = 150;
salco 0:e4151abdff23 79 break;
salco 0:e4151abdff23 80 }
salco 0:e4151abdff23 81 if(idOperation == 1) {
salco 0:e4151abdff23 82 if(idLeg<5) {
salco 0:e4151abdff23 83 m_posLeg[1] = 80;
salco 0:e4151abdff23 84 m_posLeg[2] = 210;
salco 0:e4151abdff23 85 m_posLeg[3] = 160;
salco 0:e4151abdff23 86 } else {
salco 0:e4151abdff23 87 m_posLeg[1] = 220;
salco 0:e4151abdff23 88 m_posLeg[2] = 90;
salco 0:e4151abdff23 89 m_posLeg[3] = 114;
salco 0:e4151abdff23 90 }
salco 0:e4151abdff23 91
salco 0:e4151abdff23 92 } else {
salco 0:e4151abdff23 93 if(!downUP) {
salco 0:e4151abdff23 94 if(idOperation == 9) {
salco 0:e4151abdff23 95 if(idLeg<5) {
salco 0:e4151abdff23 96 m_posLeg[1] = 80;
salco 0:e4151abdff23 97 m_posLeg[2] = 100;
salco 0:e4151abdff23 98 m_posLeg[3] = 150;
salco 0:e4151abdff23 99 } else {
salco 0:e4151abdff23 100 m_posLeg[1] = 220;
salco 0:e4151abdff23 101 m_posLeg[2] = 200;
salco 0:e4151abdff23 102 m_posLeg[3] = 150;
salco 0:e4151abdff23 103 }
salco 0:e4151abdff23 104 }
salco 0:e4151abdff23 105 idOperation = 10 - idOperation;
salco 0:e4151abdff23 106 }
salco 0:e4151abdff23 107
salco 0:e4151abdff23 108 switch(idOperation) {
salco 0:e4151abdff23 109 /*case 1:
salco 0:e4151abdff23 110
salco 0:e4151abdff23 111 break;*/
salco 0:e4151abdff23 112 case 2:
salco 0:e4151abdff23 113 if(idLeg<5) {
salco 0:e4151abdff23 114 m_posLeg[1] = 80;
salco 0:e4151abdff23 115 m_posLeg[2] = 220;
salco 0:e4151abdff23 116 m_posLeg[3] = 170;
salco 0:e4151abdff23 117 } else {
salco 0:e4151abdff23 118 m_posLeg[1] = 220;
salco 0:e4151abdff23 119 m_posLeg[2] = 80;
salco 0:e4151abdff23 120 m_posLeg[3] = 130;
salco 0:e4151abdff23 121 }
salco 0:e4151abdff23 122 break;
salco 0:e4151abdff23 123 case 3:
salco 0:e4151abdff23 124 if(idLeg<5) {
salco 0:e4151abdff23 125 m_posLeg[1] = 90;
salco 0:e4151abdff23 126 m_posLeg[2] = 220;
salco 0:e4151abdff23 127 m_posLeg[3] = 160;
salco 0:e4151abdff23 128 } else {
salco 0:e4151abdff23 129 m_posLeg[1] = 200;
salco 0:e4151abdff23 130 m_posLeg[2] = 200;
salco 0:e4151abdff23 131 m_posLeg[3] = 140;
salco 0:e4151abdff23 132 }
salco 0:e4151abdff23 133 break;
salco 0:e4151abdff23 134 case 4:
salco 0:e4151abdff23 135 if(idLeg<5) {
salco 0:e4151abdff23 136 m_posLeg[1] = 106;
salco 0:e4151abdff23 137 m_posLeg[2] = 220;
salco 0:e4151abdff23 138 m_posLeg[3] = 150;
salco 0:e4151abdff23 139 } else {
salco 0:e4151abdff23 140 m_posLeg[1] = 195;
salco 0:e4151abdff23 141 m_posLeg[2] = 80;
salco 0:e4151abdff23 142 m_posLeg[3] = 150;
salco 0:e4151abdff23 143 }
salco 0:e4151abdff23 144 break;
salco 0:e4151abdff23 145 case 5:
salco 0:e4151abdff23 146 if(idLeg<5) {
salco 0:e4151abdff23 147 m_posLeg[1] = 128;
salco 0:e4151abdff23 148 m_posLeg[2] = 220;
salco 0:e4151abdff23 149 m_posLeg[3] = 128;
salco 0:e4151abdff23 150 } else {
salco 0:e4151abdff23 151 m_posLeg[1] = 172;
salco 0:e4151abdff23 152 m_posLeg[2] = 80;
salco 0:e4151abdff23 153 m_posLeg[3] = 173;
salco 0:e4151abdff23 154 }
salco 0:e4151abdff23 155 break;
salco 0:e4151abdff23 156 case 6:
salco 0:e4151abdff23 157 if(idLeg<5) {
salco 0:e4151abdff23 158 m_posLeg[1] = 144;
salco 0:e4151abdff23 159 m_posLeg[2] = 205;
salco 0:e4151abdff23 160 m_posLeg[3] = 130;
salco 0:e4151abdff23 161 } else {
salco 0:e4151abdff23 162 m_posLeg[1] = 156;
salco 0:e4151abdff23 163 m_posLeg[2] = 95;
salco 0:e4151abdff23 164 m_posLeg[3] = 170;
salco 0:e4151abdff23 165 }
salco 0:e4151abdff23 166 break;
salco 0:e4151abdff23 167 case 7:
salco 0:e4151abdff23 168 if(idLeg<5) {
salco 0:e4151abdff23 169 m_posLeg[1] = 144;
salco 0:e4151abdff23 170 m_posLeg[2] = 211;
salco 0:e4151abdff23 171 m_posLeg[3] = 123;
salco 0:e4151abdff23 172 } else {
salco 0:e4151abdff23 173 m_posLeg[1] = 156;
salco 0:e4151abdff23 174 m_posLeg[2] = 89;
salco 0:e4151abdff23 175 m_posLeg[3] = 177;
salco 0:e4151abdff23 176 }
salco 0:e4151abdff23 177 break;
salco 0:e4151abdff23 178 case 8:
salco 0:e4151abdff23 179 if(idLeg<5) {
salco 0:e4151abdff23 180 m_posLeg[1] = 172;
salco 0:e4151abdff23 181 m_posLeg[2] = 185;
salco 0:e4151abdff23 182 m_posLeg[3] = 124;
salco 0:e4151abdff23 183 } else {
salco 0:e4151abdff23 184 m_posLeg[1] = 128;
salco 0:e4151abdff23 185 m_posLeg[2] = 115;
salco 0:e4151abdff23 186 m_posLeg[3] = 176;
salco 0:e4151abdff23 187 }
salco 0:e4151abdff23 188 break;
salco 0:e4151abdff23 189 case 9:
salco 0:e4151abdff23 190 if(idLeg<5) {
salco 0:e4151abdff23 191 m_posLeg[1] = 194;
salco 0:e4151abdff23 192 m_posLeg[2] = 166;
salco 0:e4151abdff23 193 m_posLeg[3] = 118;
salco 0:e4151abdff23 194 } else {
salco 0:e4151abdff23 195 m_posLeg[1] = 106;
salco 0:e4151abdff23 196 m_posLeg[2] = 134;
salco 0:e4151abdff23 197 m_posLeg[3] = 182;
salco 0:e4151abdff23 198 }
salco 0:e4151abdff23 199 break;
salco 0:e4151abdff23 200 }
salco 0:e4151abdff23 201 }
salco 0:e4151abdff23 202 }
salco 0:e4151abdff23 203 }
salco 0:e4151abdff23 204 void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
salco 0:e4151abdff23 205 {}
salco 0:e4151abdff23 206 void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
salco 0:e4151abdff23 207 {}
salco 0:e4151abdff23 208 void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
salco 0:e4151abdff23 209 {}
salco 0:e4151abdff23 210 void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg)
salco 0:e4151abdff23 211 {}
salco 0:e4151abdff23 212 bool homemadeSequence::next_frame(void)
salco 0:e4151abdff23 213 {
salco 0:e4151abdff23 214 bool temp=true;
salco 0:e4151abdff23 215 m_idFrame++;
salco 0:e4151abdff23 216 unsigned char* tmpTable = get_frame(m_idFrame+1);
salco 0:e4151abdff23 217
salco 0:e4151abdff23 218 if((tmpTable[0]==0) && (tmpTable[1]==0) && (tmpTable[2]==0) && (tmpTable[3]==0)) {
salco 0:e4151abdff23 219 temp=false;
salco 0:e4151abdff23 220 m_idFrame--;//get_frame(m_idFrame);
salco 0:e4151abdff23 221 }/* else
salco 0:e4151abdff23 222 m_idFrame++;*/
salco 0:e4151abdff23 223
salco 0:e4151abdff23 224 return temp;
salco 0:e4151abdff23 225 }
salco 0:e4151abdff23 226 bool homemadeSequence::prev_frame(void)
salco 0:e4151abdff23 227 {
salco 0:e4151abdff23 228 bool temp=true;
salco 0:e4151abdff23 229 m_idFrame--;
salco 0:e4151abdff23 230 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 231
salco 0:e4151abdff23 232 if((tmpTable[0]==0) && (tmpTable[1]==0) && (tmpTable[2]==0) && (tmpTable[3]==0)) {
salco 0:e4151abdff23 233 temp=false;
salco 0:e4151abdff23 234 m_idFrame++;//get_frame(m_idFrame);
salco 0:e4151abdff23 235 } /*else
salco 0:e4151abdff23 236 m_idFrame--;*/
salco 0:e4151abdff23 237
salco 0:e4151abdff23 238 return temp;
salco 0:e4151abdff23 239 }