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@23:7b296b6d8285, 2015-05-08 (annotated)

Committer:
salco
Date:
Fri May 08 20:58:21 2015 +0000
Revision:
23:7b296b6d8285
Parent:
22:a2c875629f2d
Child:
24:c7246270a852
foward and backward is add but not the fonction.

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 19:0ac80045ba4c 8 unsigned char table_seqUp[9][2][3] = { { {80 , 210, 160}, {220, 90 , 114} },
salco 22:a2c875629f2d 9 { {80 , 220, 170}, {220, 80 , 130} },
salco 22:a2c875629f2d 10 { {90 , 220, 160}, {200, 80 , 140} },
salco 22:a2c875629f2d 11 { {106, 220, 150}, {194, 80 , 150} },
salco 22:a2c875629f2d 12 { {128, 220, 127}, {172, 80 , 173} },
salco 22:a2c875629f2d 13 { {144, 205, 130}, {156, 95 , 170} },
salco 22:a2c875629f2d 14 { {144, 210, 123}, {156, 89 , 177} },
salco 22:a2c875629f2d 15 { {172, 185, 124}, {128, 115, 176} },
salco 22:a2c875629f2d 16 { {194, 166, 118}, {106, 134, 182} }
salco 22:a2c875629f2d 17 };
salco 22:a2c875629f2d 18
salco 19:0ac80045ba4c 19 unsigned char table_seqDown[9][2][3] = { { {172, 185, 124}, {128, 115, 176} },
salco 22:a2c875629f2d 20 { {172, 185, 124}, {128, 115, 176} },
salco 22:a2c875629f2d 21 { {144, 210, 123}, {156, 89 , 177} },
salco 22:a2c875629f2d 22 { {144, 205, 130}, {156, 95 , 170} },
salco 22:a2c875629f2d 23 { {128, 220, 127}, {172, 80 , 173} },
salco 22:a2c875629f2d 24 { {106, 220, 150}, {194, 80 , 150} },
salco 22:a2c875629f2d 25 { {90 , 220, 160}, {200, 80 , 140} },
salco 22:a2c875629f2d 26 { {80 , 220, 170}, {220, 80 , 130} },
salco 22:a2c875629f2d 27 { {80 , 100, 150}, {220, 200, 150} }
salco 22:a2c875629f2d 28 };//fin de la seq il met ses patte sur sa tete**
salco 22:a2c875629f2d 29
salco 21:5c17b7836733 30 unsigned char table_seqCrabe[33][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{125, 184, 156}, /* 8*/{132, 215, 147}, /*12*/{255,255,255},
salco 22:a2c875629f2d 31 /*16*/{203,101,128}, /*20*/{255,255,255}, /*24*/{176, 87, 163}, /*28*/{191, 103,133}
salco 22:a2c875629f2d 32 },
salco 22:a2c875629f2d 33 { /* 0*/{255,255,255}, /* 4*/{111, 185, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 34 /*16*/{209, 99,140}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{196, 105,142}
salco 22:a2c875629f2d 35 },
salco 22:a2c875629f2d 36 { /* 0*/{255,255,255}, /* 4*/{103, 192, 155}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 37 /*16*/{203,108,137}, /*20*/{255, 255, 255}, /*24*/{170, 88, 159}, /*28*/{191, 112,141}
salco 22:a2c875629f2d 38 },
salco 22:a2c875629f2d 39 { /* 0*/{255,255,255}, /* 4*/{ 98, 199, 158}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 40 /*16*/{196,114,137}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{184, 118,142}
salco 22:a2c875629f2d 41 },
salco 22:a2c875629f2d 42 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 43 /*16*/{182,115,144}, /*20*/{255, 255, 255}, /*24*/{169, 83, 164}, /*28*/{172, 118,142}
salco 22:a2c875629f2d 44 },
salco 22:a2c875629f2d 45 { /* 0*/{255,255,255}, /* 4*/{102, 201, 170}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 46 /*16*/{152,137,139}, /*20*/{255, 255, 255}, /*24*/{169, 78, 155}, /*28*/{146, 137,142}
salco 22:a2c875629f2d 47 },
salco 22:a2c875629f2d 48 { /* 0*/{255,255,255}, /* 4*/{102, 207, 179}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 49 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 76, 137}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 50 },
salco 22:a2c875629f2d 51 { /* 0*/{255,255,255}, /* 4*/{ 94, 213, 183}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 52 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 77, 131}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 53 },
salco 22:a2c875629f2d 54 { /* 0*/{255,255,255}, /* 4*/{106, 216, 175}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 55 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{208, 75, 116}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 56 },
salco 22:a2c875629f2d 57 { /* 0*/{255,255,255}, /* 4*/{129, 217, 165}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 58 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{225, 75, 109}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 59 },
salco 22:a2c875629f2d 60 { /* 0*/{255,255,255}, /* 4*/{129, 221, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 61 /*16*/{255,255,255}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 62 },
salco 22:a2c875629f2d 63 { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{255, 255, 255}, /*12*/{149, 158,159},
salco 22:a2c875629f2d 64 /*16*/{255,255,255}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 65 },
salco 22:a2c875629f2d 66 { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{255, 255, 255}, /*12*/{121, 180,156},
salco 22:a2c875629f2d 67 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{215, 93, 140}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 68 },
salco 22:a2c875629f2d 69 { /* 0*/{113,176,156}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{107, 182,156},
salco 22:a2c875629f2d 70 /*16*/{255,255,255}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 71 },
salco 22:a2c875629f2d 72 { /* 0*/{105,183,155}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{100, 187,150},
salco 22:a2c875629f2d 73 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{202, 106, 142}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 74 },
salco 22:a2c875629f2d 75 { /* 0*/{100,191,158}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 96, 193,155},
salco 22:a2c875629f2d 76 /*16*/{255,255,255}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 77 },
salco 22:a2c875629f2d 78 { /* 0*/{103,193,170}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 197,170},
salco 22:a2c875629f2d 79 /*16*/{255,255,255}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 80 },
salco 22:a2c875629f2d 81 { /* 0*/{103,200,177}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 201,177},
salco 22:a2c875629f2d 82 /*16*/{255,255,255}, /*20*/{177, 80, 145}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 83 },
salco 22:a2c875629f2d 84 { /* 0*/{ 96,205,182}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 91, 208,176},
salco 22:a2c875629f2d 85 /*16*/{255,255,255}, /*20*/{177, 87, 130}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 86 },
salco 22:a2c875629f2d 87 { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
salco 22:a2c875629f2d 88 /*16*/{255,255,255}, /*20*/{192, 92, 123}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 89 },
salco 22:a2c875629f2d 90 { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
salco 22:a2c875629f2d 91 /*16*/{255,255,255}, /*20*/{218, 79, 120}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 92 },
salco 22:a2c875629f2d 93 { /* 0*/{129,219,151}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{125, 213,157},
salco 22:a2c875629f2d 94 /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{255, 255, 255}, /*28*/{154, 116,150}
salco 22:a2c875629f2d 95 },
salco 22:a2c875629f2d 96 { /* 0*/{140,209,142}, /* 4*/{255, 255, 255}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145},
salco 22:a2c875629f2d 97 /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{255, 255, 255}, /*28*/{163, 93,168}
salco 22:a2c875629f2d 98 },
salco 22:a2c875629f2d 99 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{115, 182, 158}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 100 /*16*/{255,255,255}, /*20*/{212, 97, 142}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 101 },
salco 22:a2c875629f2d 102 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{101, 183, 156}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 103 /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{255, 255, 255}, /*28*/{160, 96,160}
salco 22:a2c875629f2d 104 },
salco 22:a2c875629f2d 105 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 94, 190, 154}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 106 /*16*/{255,255,255}, /*20*/{197, 113, 144}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
salco 22:a2c875629f2d 107 },
salco 22:a2c875629f2d 108 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 89, 197, 158}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 109 /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{255, 255, 255}, /*28*/{161, 88,162}
salco 22:a2c875629f2d 110 },
salco 22:a2c875629f2d 111 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 200, 171}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 112 /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{255, 255, 255}, /*28*/{166, 86,156}
salco 22:a2c875629f2d 113 },
salco 22:a2c875629f2d 114 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 205, 175}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 115 /*16*/{177, 82,133}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 82,143}
salco 22:a2c875629f2d 116 },
salco 22:a2c875629f2d 117 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 82, 215, 177}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 118 /*16*/{177, 85,126}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 84,135}
salco 22:a2c875629f2d 119 },
salco 22:a2c875629f2d 120 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 96, 214, 176}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 121 /*16*/{191,101,113}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{190, 86,124}
salco 22:a2c875629f2d 122 },
salco 22:a2c875629f2d 123 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 213, 158}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 124 /*16*/{213, 83,124}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{202, 88,121}
salco 22:a2c875629f2d 125 },
salco 22:a2c875629f2d 126 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 217, 154}, /*12*/{255, 255,255},
salco 22:a2c875629f2d 127 /*16*/{203, 95,110}, /*20*/{255, 255, 255}, /*24*/{165, 109, 152}, /*28*/{191, 101,120}
salco 22:a2c875629f2d 128 }
salco 22:a2c875629f2d 129 };
salco 22:a2c875629f2d 130
salco 22:a2c875629f2d 131 unsigned char table_seqTurn_PAUSE_TIME[32][2] = {{ 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 25, 20},{ 21, 30},{ 30, 30},
salco 22:a2c875629f2d 132 { 30, 30},{ 20, 20},{ 20, 20},{ 20, 30},{ 20, 20},{ 20, 20},{ 30, 30},{ 31, 30},
salco 22:a2c875629f2d 133 { 20, 20},{ 30, 30},{ 20, 30},{ 30, 30},{ 20, 20},{ 20, 30},{ 30, 30},{ 30, 30}
salco 22:a2c875629f2d 134 };
salco 21:5c17b7836733 135
salco 22:a2c875629f2d 136 unsigned char table_seqTurn[31][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
salco 22:a2c875629f2d 137 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 138 },
salco 22:a2c875629f2d 139 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255},
salco 22:a2c875629f2d 140 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 141 },
salco 22:a2c875629f2d 142 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 90,196,170}, /*12*/{255,255,255},
salco 22:a2c875629f2d 143 /*16*/{255,255,255}, /*20*/{205,107,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 144 },
salco 22:a2c875629f2d 145 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{101,183,165}, /*12*/{255,255,255},
salco 22:a2c875629f2d 146 /*16*/{255,255,255}, /*20*/{197,113,135}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 147 },
salco 22:a2c875629f2d 148 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
salco 22:a2c875629f2d 149 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 150 },
salco 22:a2c875629f2d 151 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{118,219,139}, /*12*/{255,255,255},
salco 22:a2c875629f2d 152 /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 153 },
salco 22:a2c875629f2d 154 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{117,217,137}, /*12*/{255,255,255},
salco 22:a2c875629f2d 155 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 156 },
salco 22:a2c875629f2d 157 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},
salco 22:a2c875629f2d 158 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 159 },
salco 22:a2c875629f2d 160 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 161 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}
salco 22:a2c875629f2d 162 },
salco 22:a2c875629f2d 163 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 164 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 95,124}
salco 22:a2c875629f2d 165 },
salco 22:a2c875629f2d 166 { /* 0*/{105,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 167 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{208, 99,127}
salco 22:a2c875629f2d 168 },
salco 22:a2c875629f2d 169 { /* 0*/{113,176,165}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 170 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{204,103,133}
salco 22:a2c875629f2d 171 },
salco 22:a2c875629f2d 172 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 173 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115}
salco 22:a2c875629f2d 174 },
salco 22:a2c875629f2d 175 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 176 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169}
salco 22:a2c875629f2d 177 },
salco 22:a2c875629f2d 178 { /* 0*/{123,217,215}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 179 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167}
salco 22:a2c875629f2d 180 },
salco 22:a2c875629f2d 181 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},
salco 22:a2c875629f2d 182 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 183 },
salco 22:a2c875629f2d 184 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 22:a2c875629f2d 185 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 186 },
salco 22:a2c875629f2d 187 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 94,196,168},
salco 22:a2c875629f2d 188 /*16*/{203,103,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 189 },
salco 22:a2c875629f2d 190 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{107,182,165},
salco 22:a2c875629f2d 191 /*16*/{196,114,128}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 192 },
salco 22:a2c875629f2d 193 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 22:a2c875629f2d 194 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 195 },
salco 22:a2c875629f2d 196 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 92,198,168},
salco 22:a2c875629f2d 197 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 198 },
salco 22:a2c875629f2d 199 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145},
salco 22:a2c875629f2d 200 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 201 },
salco 22:a2c875629f2d 202 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142},
salco 22:a2c875629f2d 203 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 204 },
salco 22:a2c875629f2d 205 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 206 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{204, 88,116}, /*28*/{255,255,255}
salco 22:a2c875629f2d 207 },
salco 22:a2c875629f2d 208 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 209 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{190, 76,160}, /*28*/{255,255,255}
salco 22:a2c875629f2d 210 },
salco 22:a2c875629f2d 211 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 212 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{192, 78,156}, /*28*/{255,255,255}
salco 22:a2c875629f2d 213 },
salco 22:a2c875629f2d 214 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 215 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{194, 78,161}, /*28*/{255,255,255}
salco 22:a2c875629f2d 216 },
salco 22:a2c875629f2d 217 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 218 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 219 },
salco 22:a2c875629f2d 220 { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 221 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 222 },
salco 22:a2c875629f2d 223 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 224 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 225 },
salco 22:a2c875629f2d 226 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 22:a2c875629f2d 227 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 22:a2c875629f2d 228 }
salco 22:a2c875629f2d 229 };
salco 22:a2c875629f2d 230 unsigned char table_seqRepositionne_PAUSE_TIME[6][2] = {{ 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}};
salco 22:a2c875629f2d 231 unsigned char table_seqRepositionne[6][8][3] = {
salco 22:a2c875629f2d 232 { /* 0*/{103,206,176}, /* 4*/{102,213,176}, /* 8*/{ 92,211,171}, /*12*/{ 99,211,176},
salco 22:a2c875629f2d 233 /*16*/{210, 86,121}, /*20*/{213, 85,118}, /*24*/{217, 83,118}, /*28*/{200, 86,124}
salco 22:a2c875629f2d 234 },
salco 22:a2c875629f2d 235 { /* 0*/{100,188,184}, /* 4*/{ 98,193,185}, /* 8*/{ 89,193,186}, /*12*/{ 96,193,185},
salco 22:a2c875629f2d 236 /*16*/{209, 99,115}, /*20*/{212, 99,119}, /*24*/{215, 95,119}, /*28*/{205, 95,124}
salco 22:a2c875629f2d 237 },
salco 22:a2c875629f2d 238 { /* 0*/{ 93,182,166}, /* 4*/{ 86,196,161}, /* 8*/{ 75,196,170}, /*12*/{ 88,192,168},
salco 22:a2c875629f2d 239 /*16*/{206,115,125}, /*20*/{211,114,129}, /*24*/{213,110,129}, /*28*/{206,108,127}
salco 22:a2c875629f2d 240 },
salco 22:a2c875629f2d 241 { /* 0*/{ 93,187,203}, /* 4*/{ 88,202,195}, /* 8*/{ 88,207,190}, /*12*/{ 92,198,199},
salco 22:a2c875629f2d 242 /*16*/{204,110,107}, /*20*/{207,110,100}, /*24*/{204, 88,116}, /*28*/{203,103,115}
salco 22:a2c875629f2d 243 },
salco 22:a2c875629f2d 244 { /* 0*/{123,220,139}, /* 4*/{125,225,133}, /* 8*/{118,219,139}, /*12*/{118,206,145},
salco 22:a2c875629f2d 245 /*16*/{179, 82,167}, /*20*/{189, 76,160}, /*24*/{190, 76,160}, /*28*/{178, 78,169}
salco 22:a2c875629f2d 246 },
salco 22:a2c875629f2d 247 { /* 0*/{123,217,135}, /* 4*/{120,222,135}, /* 8*/{113,217,137}, /*12*/{111,213,142},
salco 22:a2c875629f2d 248 /*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167}
salco 22:a2c875629f2d 249 }
salco 22:a2c875629f2d 250 };
salco 23:7b296b6d8285 251 unsigned char table_seqFoward[41][8][3] ={
salco 23:7b296b6d8285 252 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 253 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 254 },
salco 23:7b296b6d8285 255 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 256 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 257 },
salco 23:7b296b6d8285 258 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 259 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 260 },
salco 23:7b296b6d8285 261 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 262 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 263 },
salco 23:7b296b6d8285 264 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},//attention ici 2 temps diferant
salco 23:7b296b6d8285 265 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{200, 86,124}
salco 23:7b296b6d8285 266 },
salco 23:7b296b6d8285 267 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255},
salco 23:7b296b6d8285 268 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205, 95,124}
salco 23:7b296b6d8285 269 },
salco 23:7b296b6d8285 270 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 271 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 272 },
salco 23:7b296b6d8285 273 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255},
salco 23:7b296b6d8285 274 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 275 },
salco 23:7b296b6d8285 276 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{145,161,172}, /*12*/{255,255,255},
salco 23:7b296b6d8285 277 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130}
salco 23:7b296b6d8285 278 },
salco 23:7b296b6d8285 279 { /* 0*/{127,186,156}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255},
salco 23:7b296b6d8285 280 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{179, 81,167}
salco 23:7b296b6d8285 281 },
salco 23:7b296b6d8285 282 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
salco 23:7b296b6d8285 283 /*16*/{255,255,255}, /*20*/{255,255,255}, /*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*/{113,217,137}, /*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*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 290 },
salco 23:7b296b6d8285 291 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 292 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 293 },
salco 23:7b296b6d8285 294 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 295 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 296 },
salco 23:7b296b6d8285 297 { /* 0*/{123,217,135}, /* 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*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 301 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255}
salco 23:7b296b6d8285 302 },
salco 23:7b296b6d8285 303 { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 304 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255}
salco 23:7b296b6d8285 305 },
salco 23:7b296b6d8285 306 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 307 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 308 },
salco 23:7b296b6d8285 309 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 310 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255}
salco 23:7b296b6d8285 311 },
salco 23:7b296b6d8285 312 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},//attention temps diferant ici
salco 23:7b296b6d8285 313 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{154,133,133}, /*28*/{255,255,255}
salco 23:7b296b6d8285 314 },
salco 23:7b296b6d8285 315 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 23:7b296b6d8285 316 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 317 },
salco 23:7b296b6d8285 318 { /* 0*/{255,255,255}, /* 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*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 322 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 323 },
salco 23:7b296b6d8285 324 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{145,158,173},
salco 23:7b296b6d8285 325 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 326 },
salco 23:7b296b6d8285 327 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps
salco 23:7b296b6d8285 328 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255}
salco 23:7b296b6d8285 329 },
salco 23:7b296b6d8285 330 { /* 0*/{127,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{116,219,134},
salco 23:7b296b6d8285 331 /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 332 },
salco 23:7b296b6d8285 333 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 334 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 335 },
salco 23:7b296b6d8285 336 { /* 0*/{100,188,184}, /* 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*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 340 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 341 },
salco 23:7b296b6d8285 342 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 343 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 344 },
salco 23:7b296b6d8285 345 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 346 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 347 },
salco 23:7b296b6d8285 348 { /* 0*/{123,217,135}, /* 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*/{255,255,255},
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*/{255,255,255},
salco 23:7b296b6d8285 355 /*16*/{204,110,107}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 356 },
salco 23:7b296b6d8285 357 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 358 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 359 },
salco 23:7b296b6d8285 360 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 361 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 362 },
salco 23:7b296b6d8285 363 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 364 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 365 },
salco 23:7b296b6d8285 366 { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 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*/{255,255,255}, /* 4*/{125,225,133}, /* 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*/{255,255,255}, /* 4*/{120,222,135}, /* 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 };
salco 23:7b296b6d8285 376 unsigned char table_seqBackward[33][8][3] = {
salco 23:7b296b6d8285 377 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
salco 23:7b296b6d8285 378 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}
salco 23:7b296b6d8285 379 },
salco 23:7b296b6d8285 380 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{89,193,186}, /*12*/{255,255,255},
salco 23:7b296b6d8285 381 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205,95,124}
salco 23:7b296b6d8285 382 },
salco 23:7b296b6d8285 383 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 384 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 385 },
salco 23:7b296b6d8285 386 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255},
salco 23:7b296b6d8285 387 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 388 },
salco 23:7b296b6d8285 389 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},//attention ici 2 temps diferant
salco 23:7b296b6d8285 390 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{181, 81,167}
salco 23:7b296b6d8285 391 },
salco 23:7b296b6d8285 392 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 393 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 394 },
salco 23:7b296b6d8285 395 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 396 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 397 },
salco 23:7b296b6d8285 398 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 399 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 400 },
salco 23:7b296b6d8285 401 { /* 0*/{136,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 402 /*16*/{255,255,255}, /*20*/{176,108,146}, /*24*/{255,255,255}, /*28*/{179, 81,167}
salco 23:7b296b6d8285 403 },
salco 23:7b296b6d8285 404 { /* 0*/{123,217,135}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255},
salco 23:7b296b6d8285 405 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130}
salco 23:7b296b6d8285 406 },
salco 23:7b296b6d8285 407 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 408 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 409 },
salco 23:7b296b6d8285 410 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 411 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115}
salco 23:7b296b6d8285 412 },
salco 23:7b296b6d8285 413 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 414 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169}
salco 23:7b296b6d8285 415 },
salco 23:7b296b6d8285 416 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 417 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167}
salco 23:7b296b6d8285 418 },
salco 23:7b296b6d8285 419 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 420 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 421 },
salco 23:7b296b6d8285 422 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 423 /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 424 },
salco 23:7b296b6d8285 425 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 426 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 427 },
salco 23:7b296b6d8285 428 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 429 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 430 },
salco 23:7b296b6d8285 431 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},
salco 23:7b296b6d8285 432 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 433 },
salco 23:7b296b6d8285 434 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 23:7b296b6d8285 435 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 436 },
salco 23:7b296b6d8285 437 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 438 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 439 },
salco 23:7b296b6d8285 440 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 441 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 442 },
salco 23:7b296b6d8285 443 { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{116,219,134},//attention plusieur temps
salco 23:7b296b6d8285 444 /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255}
salco 23:7b296b6d8285 445 },
salco 23:7b296b6d8285 446 { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 447 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255}
salco 23:7b296b6d8285 448 },
salco 23:7b296b6d8285 449 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 450 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 451 },
salco 23:7b296b6d8285 452 { /* 0*/{255,255,255}, /* 4*/{86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 453 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255}
salco 23:7b296b6d8285 454 },
salco 23:7b296b6d8285 455 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 456 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 457 },
salco 23:7b296b6d8285 458 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps
salco 23:7b296b6d8285 459 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255}
salco 23:7b296b6d8285 460 },
salco 23:7b296b6d8285 461 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{132,178,166},
salco 23:7b296b6d8285 462 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 463 },
salco 23:7b296b6d8285 464 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 465 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 466 },
salco 23:7b296b6d8285 467 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{92,198,199},
salco 23:7b296b6d8285 468 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 469 },
salco 23:7b296b6d8285 470 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145},
salco 23:7b296b6d8285 471 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 472 },
salco 23:7b296b6d8285 473 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142},
salco 23:7b296b6d8285 474 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 475 }
salco 23:7b296b6d8285 476 };
salco 19:0ac80045ba4c 477 /*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 478 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 479 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 480 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 481 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 482 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 483 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 484 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 485 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 486 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 487 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 488 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 489 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 490 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 491 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 492 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 493 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 494 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/
salco 0:e4151abdff23 495 homemadeSequence::homemadeSequence()
salco 0:e4151abdff23 496 {
salco 19:0ac80045ba4c 497 m_SequenceChosen=0;
salco 19:0ac80045ba4c 498 m_idFrame=0;
salco 22:a2c875629f2d 499 m_idLegUse =0;
salco 0:e4151abdff23 500 }
salco 0:e4151abdff23 501 homemadeSequence::~homemadeSequence()
salco 0:e4151abdff23 502 {
salco 0:e4151abdff23 503
salco 0:e4151abdff23 504 }
salco 0:e4151abdff23 505 unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg)
salco 0:e4151abdff23 506 {
salco 19:0ac80045ba4c 507 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame");
salco 0:e4151abdff23 508 m_posLeg[0] = 0;
salco 0:e4151abdff23 509 m_posLeg[1] = 0;
salco 0:e4151abdff23 510 m_posLeg[2] = 0;
salco 0:e4151abdff23 511 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 512 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg);
salco 19:0ac80045ba4c 513 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen);
salco 19:0ac80045ba4c 514 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame);
salco 0:e4151abdff23 515 switch(m_SequenceChosen) {
salco 0:e4151abdff23 516 case 1:// 01 - Calibration(milieu) //
salco 0:e4151abdff23 517 if(m_idFrame == 1) {//if(idOperation == 1) {
salco 0:e4151abdff23 518 m_posLeg[0] = 150;
salco 0:e4151abdff23 519 m_posLeg[1] = 150;
salco 0:e4151abdff23 520 m_posLeg[2] = 150;
salco 0:e4151abdff23 521 m_posLeg[3] = 150;
salco 19:0ac80045ba4c 522 } else {
salco 19:0ac80045ba4c 523 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 524 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 525 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 526 m_posLeg[3] = 0;
salco 0:e4151abdff23 527 }
salco 0:e4151abdff23 528 break;
salco 0:e4151abdff23 529
salco 0:e4151abdff23 530 case 2:// 02 - Debout //
salco 0:e4151abdff23 531 seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg);
salco 0:e4151abdff23 532 break;
salco 0:e4151abdff23 533 case 3:// 03 - Coucher //
salco 0:e4151abdff23 534 seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg);
salco 0:e4151abdff23 535 break;
salco 0:e4151abdff23 536 case 4:// 04 - Tourne Gauche //
salco 0:e4151abdff23 537 break;
salco 0:e4151abdff23 538 case 5:// 05 - Tourne Droite //
salco 0:e4151abdff23 539 break;
salco 0:e4151abdff23 540 case 6:// 06 - Marche //
salco 0:e4151abdff23 541 break;
salco 0:e4151abdff23 542 case 7:// 07 - Recule //
salco 0:e4151abdff23 543 break;
salco 0:e4151abdff23 544 case 8:// 07 - Repositioner //
salco 22:a2c875629f2d 545 seqRepositioner(m_idFrame,idLeg);
salco 0:e4151abdff23 546 break;
salco 0:e4151abdff23 547 case 9:// 09 - Crabe Gauche //
salco 21:5c17b7836733 548 seqCrabe(false,m_idFrame,idLeg);
salco 0:e4151abdff23 549 break;
salco 0:e4151abdff23 550 case 10:// 10 - Crabe Droite //
salco 21:5c17b7836733 551 seqCrabe(true,m_idFrame,idLeg);
salco 0:e4151abdff23 552 break;
salco 0:e4151abdff23 553 }
salco 19:0ac80045ba4c 554 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r posLeg: [0]:%i, [1]:%i, [2]:%i, [3]:%i,",m_posLeg[0],m_posLeg[1],m_posLeg[2],m_posLeg[3]);
salco 19:0ac80045ba4c 555 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame");
salco 0:e4151abdff23 556 return m_posLeg;
salco 0:e4151abdff23 557 }
salco 0:e4151abdff23 558
salco 0:e4151abdff23 559 void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg)
salco 0:e4151abdff23 560 {
salco 0:e4151abdff23 561 if((idOperation<10)&&(idOperation>0)) {
salco 19:0ac80045ba4c 562 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 563 case 1://#0
salco 0:e4151abdff23 564 m_posLeg[0] = 140;
salco 0:e4151abdff23 565 break;
salco 22:a2c875629f2d 566 case 2://#4
salco 0:e4151abdff23 567 m_posLeg[0] = 165;
salco 0:e4151abdff23 568 break;
salco 22:a2c875629f2d 569 case 3://#8
salco 0:e4151abdff23 570 m_posLeg[0] = 160;
salco 0:e4151abdff23 571 break;
salco 22:a2c875629f2d 572 case 6://#20
salco 0:e4151abdff23 573 m_posLeg[0] = 133;
salco 0:e4151abdff23 574 break;
salco 22:a2c875629f2d 575 case 7://#24
salco 0:e4151abdff23 576 m_posLeg[0] = 170;
salco 0:e4151abdff23 577 break;
salco 22:a2c875629f2d 578 default://#12 #28
salco 0:e4151abdff23 579 m_posLeg[0] = 150;
salco 0:e4151abdff23 580 break;
salco 0:e4151abdff23 581 }
salco 22:a2c875629f2d 582 if(downUP) {
salco 19:0ac80045ba4c 583 if(idLeg<5)
salco 19:0ac80045ba4c 584 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 585 else
salco 19:0ac80045ba4c 586 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1];
salco 22:a2c875629f2d 587 } else {
salco 19:0ac80045ba4c 588 if(idLeg<5)
salco 19:0ac80045ba4c 589 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 590 else
salco 19:0ac80045ba4c 591 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1];
salco 22:a2c875629f2d 592 }
salco 19:0ac80045ba4c 593 /*if(idOperation == 1) {
salco 0:e4151abdff23 594 if(idLeg<5) {
salco 0:e4151abdff23 595 m_posLeg[1] = 80;
salco 0:e4151abdff23 596 m_posLeg[2] = 210;
salco 0:e4151abdff23 597 m_posLeg[3] = 160;
salco 0:e4151abdff23 598 } else {
salco 0:e4151abdff23 599 m_posLeg[1] = 220;
salco 0:e4151abdff23 600 m_posLeg[2] = 90;
salco 0:e4151abdff23 601 m_posLeg[3] = 114;
salco 0:e4151abdff23 602 }
salco 0:e4151abdff23 603
salco 0:e4151abdff23 604 } else {
salco 0:e4151abdff23 605 if(!downUP) {
salco 0:e4151abdff23 606 if(idOperation == 9) {
salco 0:e4151abdff23 607 if(idLeg<5) {
salco 0:e4151abdff23 608 m_posLeg[1] = 80;
salco 0:e4151abdff23 609 m_posLeg[2] = 100;
salco 0:e4151abdff23 610 m_posLeg[3] = 150;
salco 0:e4151abdff23 611 } else {
salco 0:e4151abdff23 612 m_posLeg[1] = 220;
salco 0:e4151abdff23 613 m_posLeg[2] = 200;
salco 0:e4151abdff23 614 m_posLeg[3] = 150;
salco 0:e4151abdff23 615 }
salco 0:e4151abdff23 616 }
salco 0:e4151abdff23 617 idOperation = 10 - idOperation;
salco 0:e4151abdff23 618 }
salco 0:e4151abdff23 619
salco 0:e4151abdff23 620 switch(idOperation) {
salco 19:0ac80045ba4c 621 case 1:
salco 0:e4151abdff23 622
salco 19:0ac80045ba4c 623 break;
salco 0:e4151abdff23 624 case 2:
salco 0:e4151abdff23 625 if(idLeg<5) {
salco 0:e4151abdff23 626 m_posLeg[1] = 80;
salco 0:e4151abdff23 627 m_posLeg[2] = 220;
salco 0:e4151abdff23 628 m_posLeg[3] = 170;
salco 0:e4151abdff23 629 } else {
salco 0:e4151abdff23 630 m_posLeg[1] = 220;
salco 0:e4151abdff23 631 m_posLeg[2] = 80;
salco 0:e4151abdff23 632 m_posLeg[3] = 130;
salco 0:e4151abdff23 633 }
salco 0:e4151abdff23 634 break;
salco 0:e4151abdff23 635 case 3:
salco 0:e4151abdff23 636 if(idLeg<5) {
salco 0:e4151abdff23 637 m_posLeg[1] = 90;
salco 0:e4151abdff23 638 m_posLeg[2] = 220;
salco 0:e4151abdff23 639 m_posLeg[3] = 160;
salco 0:e4151abdff23 640 } else {
salco 0:e4151abdff23 641 m_posLeg[1] = 200;
salco 0:e4151abdff23 642 m_posLeg[2] = 200;
salco 0:e4151abdff23 643 m_posLeg[3] = 140;
salco 0:e4151abdff23 644 }
salco 0:e4151abdff23 645 break;
salco 0:e4151abdff23 646 case 4:
salco 0:e4151abdff23 647 if(idLeg<5) {
salco 0:e4151abdff23 648 m_posLeg[1] = 106;
salco 0:e4151abdff23 649 m_posLeg[2] = 220;
salco 0:e4151abdff23 650 m_posLeg[3] = 150;
salco 0:e4151abdff23 651 } else {
salco 0:e4151abdff23 652 m_posLeg[1] = 195;
salco 0:e4151abdff23 653 m_posLeg[2] = 80;
salco 0:e4151abdff23 654 m_posLeg[3] = 150;
salco 0:e4151abdff23 655 }
salco 0:e4151abdff23 656 break;
salco 0:e4151abdff23 657 case 5:
salco 0:e4151abdff23 658 if(idLeg<5) {
salco 0:e4151abdff23 659 m_posLeg[1] = 128;
salco 0:e4151abdff23 660 m_posLeg[2] = 220;
salco 0:e4151abdff23 661 m_posLeg[3] = 128;
salco 0:e4151abdff23 662 } else {
salco 0:e4151abdff23 663 m_posLeg[1] = 172;
salco 0:e4151abdff23 664 m_posLeg[2] = 80;
salco 0:e4151abdff23 665 m_posLeg[3] = 173;
salco 0:e4151abdff23 666 }
salco 0:e4151abdff23 667 break;
salco 0:e4151abdff23 668 case 6:
salco 0:e4151abdff23 669 if(idLeg<5) {
salco 0:e4151abdff23 670 m_posLeg[1] = 144;
salco 0:e4151abdff23 671 m_posLeg[2] = 205;
salco 0:e4151abdff23 672 m_posLeg[3] = 130;
salco 0:e4151abdff23 673 } else {
salco 0:e4151abdff23 674 m_posLeg[1] = 156;
salco 0:e4151abdff23 675 m_posLeg[2] = 95;
salco 0:e4151abdff23 676 m_posLeg[3] = 170;
salco 0:e4151abdff23 677 }
salco 0:e4151abdff23 678 break;
salco 0:e4151abdff23 679 case 7:
salco 0:e4151abdff23 680 if(idLeg<5) {
salco 0:e4151abdff23 681 m_posLeg[1] = 144;
salco 0:e4151abdff23 682 m_posLeg[2] = 211;
salco 0:e4151abdff23 683 m_posLeg[3] = 123;
salco 0:e4151abdff23 684 } else {
salco 0:e4151abdff23 685 m_posLeg[1] = 156;
salco 0:e4151abdff23 686 m_posLeg[2] = 89;
salco 0:e4151abdff23 687 m_posLeg[3] = 177;
salco 0:e4151abdff23 688 }
salco 0:e4151abdff23 689 break;
salco 0:e4151abdff23 690 case 8:
salco 0:e4151abdff23 691 if(idLeg<5) {
salco 0:e4151abdff23 692 m_posLeg[1] = 172;
salco 0:e4151abdff23 693 m_posLeg[2] = 185;
salco 0:e4151abdff23 694 m_posLeg[3] = 124;
salco 0:e4151abdff23 695 } else {
salco 0:e4151abdff23 696 m_posLeg[1] = 128;
salco 0:e4151abdff23 697 m_posLeg[2] = 115;
salco 0:e4151abdff23 698 m_posLeg[3] = 176;
salco 0:e4151abdff23 699 }
salco 0:e4151abdff23 700 break;
salco 0:e4151abdff23 701 case 9:
salco 0:e4151abdff23 702 if(idLeg<5) {
salco 0:e4151abdff23 703 m_posLeg[1] = 194;
salco 0:e4151abdff23 704 m_posLeg[2] = 166;
salco 0:e4151abdff23 705 m_posLeg[3] = 118;
salco 0:e4151abdff23 706 } else {
salco 0:e4151abdff23 707 m_posLeg[1] = 106;
salco 0:e4151abdff23 708 m_posLeg[2] = 134;
salco 0:e4151abdff23 709 m_posLeg[3] = 182;
salco 0:e4151abdff23 710 }
salco 0:e4151abdff23 711 break;
salco 19:0ac80045ba4c 712 default:
salco 19:0ac80045ba4c 713 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 714 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 715 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 716 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 717 break;
salco 0:e4151abdff23 718 }
salco 19:0ac80045ba4c 719 }*/
salco 0:e4151abdff23 720 }
salco 0:e4151abdff23 721 }
salco 0:e4151abdff23 722 void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
salco 22:a2c875629f2d 723 {
salco 22:a2c875629f2d 724 if(idOperation<32) {
salco 22:a2c875629f2d 725 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqTurn[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 726 delaisNeed = (table_seqTurn_PAUSE_TIME[idOperation-1][0])*10;
salco 22:a2c875629f2d 727 timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1];
salco 22:a2c875629f2d 728
salco 22:a2c875629f2d 729 switch(idOperation) {
salco 22:a2c875629f2d 730
salco 22:a2c875629f2d 731 case 3:
salco 22:a2c875629f2d 732 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 733 case 3://#8
salco 22:a2c875629f2d 734 m_posLeg[0]= (leftRIGHT)? 180:140;
salco 22:a2c875629f2d 735 break;
salco 22:a2c875629f2d 736 case 6://#20
salco 22:a2c875629f2d 737 m_posLeg[0]= (leftRIGHT)? 150:114;
salco 22:a2c875629f2d 738 break;
salco 22:a2c875629f2d 739 }
salco 22:a2c875629f2d 740 break;
salco 22:a2c875629f2d 741 case 11:
salco 22:a2c875629f2d 742 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 743 case 1://#0
salco 22:a2c875629f2d 744 m_posLeg[0]= (leftRIGHT)? 150:110;
salco 22:a2c875629f2d 745 break;
salco 22:a2c875629f2d 746 case 7://28
salco 22:a2c875629f2d 747 m_posLeg[0]= (leftRIGHT)? 164:104;
salco 22:a2c875629f2d 748 break;
salco 22:a2c875629f2d 749 }
salco 22:a2c875629f2d 750 break;
salco 22:a2c875629f2d 751 case 17:
salco 22:a2c875629f2d 752 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 753 case 1://#0
salco 22:a2c875629f2d 754 m_posLeg[0]= 140;
salco 22:a2c875629f2d 755 break;
salco 22:a2c875629f2d 756 case 2://4
salco 22:a2c875629f2d 757 m_posLeg[0]= (leftRIGHT)? 150:176;
salco 22:a2c875629f2d 758 break;
salco 22:a2c875629f2d 759 case 3://8
salco 22:a2c875629f2d 760 m_posLeg[0]= 160;
salco 22:a2c875629f2d 761 break;
salco 22:a2c875629f2d 762 case 6://20
salco 22:a2c875629f2d 763 m_posLeg[0]= 133;
salco 22:a2c875629f2d 764 break;
salco 22:a2c875629f2d 765 case 7://24
salco 22:a2c875629f2d 766 m_posLeg[0]= (leftRIGHT)? 153:183;
salco 22:a2c875629f2d 767 break;
salco 22:a2c875629f2d 768 case 8://28
salco 22:a2c875629f2d 769 m_posLeg[0]= 133;
salco 22:a2c875629f2d 770 break;
salco 22:a2c875629f2d 771 }
salco 22:a2c875629f2d 772 if((idLeg != 4) || (idLeg != 5))
salco 22:a2c875629f2d 773 timeSequence[idLeg-1] = 30;
salco 22:a2c875629f2d 774
salco 22:a2c875629f2d 775 break;
salco 22:a2c875629f2d 776
salco 22:a2c875629f2d 777 case 25:
salco 22:a2c875629f2d 778 if(idLeg == 7)
salco 22:a2c875629f2d 779 m_posLeg[0] = 170;
salco 22:a2c875629f2d 780 break;
salco 22:a2c875629f2d 781
salco 22:a2c875629f2d 782 case 29:
salco 22:a2c875629f2d 783 if(idLeg == 2)
salco 22:a2c875629f2d 784 m_posLeg[0] = 165;
salco 22:a2c875629f2d 785 break;
salco 22:a2c875629f2d 786 //case :
salco 22:a2c875629f2d 787 //break;
salco 22:a2c875629f2d 788 default:
salco 22:a2c875629f2d 789 m_posLeg[0]= 255;
salco 22:a2c875629f2d 790 break;
salco 22:a2c875629f2d 791 }
salco 22:a2c875629f2d 792
salco 22:a2c875629f2d 793
salco 22:a2c875629f2d 794
salco 22:a2c875629f2d 795 } else
salco 22:a2c875629f2d 796 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 797 }
salco 0:e4151abdff23 798 void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
salco 0:e4151abdff23 799 {}
salco 0:e4151abdff23 800 void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
salco 22:a2c875629f2d 801 {
salco 22:a2c875629f2d 802 if(idOperation<6) {
salco 22:a2c875629f2d 803 if(m_idLegUse == idLeg) {
salco 22:a2c875629f2d 804 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqRepositionne[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 805
salco 22:a2c875629f2d 806 timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1];
salco 22:a2c875629f2d 807
salco 22:a2c875629f2d 808 if(idOperation == 5) {
salco 22:a2c875629f2d 809 switch(idLeg) {
salco 22:a2c875629f2d 810 case 1:
salco 22:a2c875629f2d 811 m_posLeg[0] = 137;
salco 22:a2c875629f2d 812 break;
salco 22:a2c875629f2d 813 case 2:
salco 22:a2c875629f2d 814 m_posLeg[0] = 165;
salco 22:a2c875629f2d 815 break;
salco 22:a2c875629f2d 816 case 3:
salco 22:a2c875629f2d 817 m_posLeg[0] = 160;
salco 22:a2c875629f2d 818 break;
salco 22:a2c875629f2d 819 case 4:
salco 22:a2c875629f2d 820 m_posLeg[0] = 150;
salco 22:a2c875629f2d 821 break;
salco 22:a2c875629f2d 822 case 5:
salco 22:a2c875629f2d 823 m_posLeg[0] = 153;
salco 22:a2c875629f2d 824 break;
salco 22:a2c875629f2d 825 case 6:
salco 22:a2c875629f2d 826 m_posLeg[0] = 133;
salco 22:a2c875629f2d 827 break;
salco 22:a2c875629f2d 828 case 7:
salco 22:a2c875629f2d 829 m_posLeg[0] = 170;
salco 22:a2c875629f2d 830 break;
salco 22:a2c875629f2d 831 case 8:
salco 22:a2c875629f2d 832 m_posLeg[0] = 144;
salco 22:a2c875629f2d 833 break;
salco 22:a2c875629f2d 834 }
salco 22:a2c875629f2d 835 }
salco 22:a2c875629f2d 836
salco 22:a2c875629f2d 837 } else
salco 22:a2c875629f2d 838 for(int i=0; i <= 3; i++)m_posLeg[i]=255;
salco 22:a2c875629f2d 839 delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
salco 22:a2c875629f2d 840 } else
salco 22:a2c875629f2d 841 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 842 }
salco 0:e4151abdff23 843 void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg)
salco 21:5c17b7836733 844 {
salco 22:a2c875629f2d 845 if(idOperation<33) {
salco 22:a2c875629f2d 846 if(leftRIGHT)
salco 22:a2c875629f2d 847 idOperation=33-idOperation;
salco 22:a2c875629f2d 848
salco 21:5c17b7836733 849 switch(idLeg) { //moving hips
salco 21:5c17b7836733 850 case 1:
salco 21:5c17b7836733 851 m_posLeg[0] = 140;
salco 21:5c17b7836733 852 break;
salco 21:5c17b7836733 853 case 2:
salco 21:5c17b7836733 854 m_posLeg[0] = 165;
salco 21:5c17b7836733 855 break;
salco 21:5c17b7836733 856 case 3:
salco 21:5c17b7836733 857 m_posLeg[0] = 160;
salco 21:5c17b7836733 858 break;
salco 21:5c17b7836733 859 case 6:
salco 21:5c17b7836733 860 m_posLeg[0] = 133;
salco 21:5c17b7836733 861 break;
salco 21:5c17b7836733 862 case 7:
salco 21:5c17b7836733 863 m_posLeg[0] = 170;
salco 21:5c17b7836733 864 break;
salco 21:5c17b7836733 865 default:
salco 21:5c17b7836733 866 m_posLeg[0] = 150;
salco 21:5c17b7836733 867 break;
salco 21:5c17b7836733 868 }
salco 22:a2c875629f2d 869
salco 21:5c17b7836733 870 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqCrabe[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 871
salco 22:a2c875629f2d 872
salco 21:5c17b7836733 873 //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 874 } else
salco 22:a2c875629f2d 875 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 876
salco 22:a2c875629f2d 877
salco 21:5c17b7836733 878 }
salco 0:e4151abdff23 879 bool homemadeSequence::next_frame(void)
salco 0:e4151abdff23 880 {
salco 19:0ac80045ba4c 881 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame");
salco 19:0ac80045ba4c 882 bool temp=false;
salco 19:0ac80045ba4c 883 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 884
salco 22:a2c875629f2d 885
salco 19:0ac80045ba4c 886 //if(m_idFrame > 1){
salco 0:e4151abdff23 887 m_idFrame++;
salco 19:0ac80045ba4c 888 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 889
salco 22:a2c875629f2d 890 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
salco 19:0ac80045ba4c 891 temp=true;
salco 22:a2c875629f2d 892 //m_idFrame++;//get_frame(m_idFrame);
salco 22:a2c875629f2d 893 if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
salco 22:a2c875629f2d 894 delaisNextSeq.reset();
salco 22:a2c875629f2d 895 delaisNeed=-1;
salco 22:a2c875629f2d 896 for(int i=0; i<8; i++)timeSequence[i]=0;
salco 22:a2c875629f2d 897 } else
salco 22:a2c875629f2d 898 m_idFrame--;
salco 22:a2c875629f2d 899 } else
salco 19:0ac80045ba4c 900 m_idFrame--;
salco 19:0ac80045ba4c 901
salco 19:0ac80045ba4c 902 //}
salco 19:0ac80045ba4c 903 //}
salco 19:0ac80045ba4c 904 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 905 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame");
salco 22:a2c875629f2d 906
salco 0:e4151abdff23 907 return temp;
salco 0:e4151abdff23 908 }
salco 19:0ac80045ba4c 909 bool homemadeSequence::prev_frame(void) //true == prev is ok
salco 0:e4151abdff23 910 {
salco 19:0ac80045ba4c 911 //false == impossible
salco 19:0ac80045ba4c 912 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame");
salco 19:0ac80045ba4c 913 bool temp=false;
salco 19:0ac80045ba4c 914 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 915
salco 22:a2c875629f2d 916
salco 19:0ac80045ba4c 917 if(m_idFrame > 1) {
salco 19:0ac80045ba4c 918 m_idFrame--;
salco 19:0ac80045ba4c 919 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 920
salco 22:a2c875629f2d 921 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
salco 19:0ac80045ba4c 922 temp=true;
salco 22:a2c875629f2d 923 //m_idFrame++;//get_frame(m_idFrame);
salco 22:a2c875629f2d 924 if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
salco 22:a2c875629f2d 925 delaisNextSeq.reset();
salco 22:a2c875629f2d 926 delaisNeed=-1;
salco 22:a2c875629f2d 927 for(int i=0; i<8; i++)timeSequence[i]=0;
salco 22:a2c875629f2d 928 } else
salco 22:a2c875629f2d 929 m_idFrame++;
salco 22:a2c875629f2d 930 } else
salco 19:0ac80045ba4c 931 m_idFrame++;
salco 19:0ac80045ba4c 932
salco 19:0ac80045ba4c 933 //}
salco 19:0ac80045ba4c 934 }
salco 19:0ac80045ba4c 935 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 936 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame");
salco 22:a2c875629f2d 937
salco 0:e4151abdff23 938 return temp;
salco 0:e4151abdff23 939 }