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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.h@22:a2c875629f2d, 2015-05-08 (annotated)
- Committer:
- salco
- Date:
- Fri May 08 19:57:25 2015 +0000
- Revision:
- 22:a2c875629f2d
- Parent:
- 21:5c17b7836733
- Child:
- 27:ea60d12dccdf
turn + recalibrement is donne
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 0:e4151abdff23 | 1 | /* |
salco | 0:e4151abdff23 | 2 | * homemadeSequence.h |
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 | |
salco | 0:e4151abdff23 | 8 | #ifndef HOMEMADESEQUENCE_H_ |
salco | 0:e4151abdff23 | 9 | #define HOMEMADESEQUENCE_H_ |
salco | 19:0ac80045ba4c | 10 | |
salco | 19:0ac80045ba4c | 11 | #define DEBUG_HOMEMADE_GETFRAME 1 |
salco | 19:0ac80045ba4c | 12 | #define DEBUG_HOMEMADE_NEXTFRAME 0 |
salco | 19:0ac80045ba4c | 13 | #define DEBUG_HOMEMADE_PREVFRAME 0 |
salco | 22:a2c875629f2d | 14 | #define DELAITESTE 1000 |
salco | 19:0ac80045ba4c | 15 | |
salco | 19:0ac80045ba4c | 16 | #include "debug.h" |
salco | 21:5c17b7836733 | 17 | #include "mbed.h" |
salco | 19:0ac80045ba4c | 18 | |
salco | 0:e4151abdff23 | 19 | class homemadeSequence |
salco | 0:e4151abdff23 | 20 | { |
salco | 0:e4151abdff23 | 21 | ////////////////////////////// |
salco | 0:e4151abdff23 | 22 | // 00 - Nothing // |
salco | 22:a2c875629f2d | 23 | //X01 - Calibration(milieu) // |
salco | 22:a2c875629f2d | 24 | //X02 - Debout // |
salco | 22:a2c875629f2d | 25 | //X03 - Coucher // |
salco | 22:a2c875629f2d | 26 | //X04 - Tourne Gauche // |
salco | 22:a2c875629f2d | 27 | //X05 - Tourne Droite // |
salco | 0:e4151abdff23 | 28 | // 06 - Marche // |
salco | 0:e4151abdff23 | 29 | // 07 - Recule // |
salco | 0:e4151abdff23 | 30 | // 08 - Repositioner // |
salco | 0:e4151abdff23 | 31 | // 09 - Crabe Gauche // |
salco | 0:e4151abdff23 | 32 | // 10 - Crabe Droite // |
salco | 20:c825e7b07af7 | 33 | // 11 - recalibration legs // |
salco | 0:e4151abdff23 | 34 | ////////////////////////////// |
salco | 0:e4151abdff23 | 35 | char m_SequenceChosen; |
salco | 0:e4151abdff23 | 36 | char m_idFrame; |
salco | 21:5c17b7836733 | 37 | |
salco | 21:5c17b7836733 | 38 | Timer delaisNextSeq; |
salco | 21:5c17b7836733 | 39 | int delaisNeed; |
salco | 0:e4151abdff23 | 40 | unsigned char m_posLeg[4]; |
salco | 22:a2c875629f2d | 41 | unsigned char timeSequence[8]; |
salco | 22:a2c875629f2d | 42 | char m_idLegUse; // pour seqRepositioner |
salco | 0:e4151abdff23 | 43 | |
salco | 0:e4151abdff23 | 44 | void seqUpDown(bool downUP,char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 45 | void seqTurn(bool leftRIGHT,char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 46 | void seqWalk(bool backFRONT,char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 47 | void seqRepositioner(char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 48 | void seqCrabe(bool leftRIGHT,char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 49 | |
salco | 0:e4151abdff23 | 50 | public: |
salco | 0:e4151abdff23 | 51 | homemadeSequence(); |
salco | 0:e4151abdff23 | 52 | ~homemadeSequence(); |
salco | 0:e4151abdff23 | 53 | void set_Sequence(char idSequence) { |
salco | 0:e4151abdff23 | 54 | m_SequenceChosen = idSequence; |
salco | 0:e4151abdff23 | 55 | m_idFrame = 1; |
salco | 21:5c17b7836733 | 56 | delaisNextSeq.reset(); |
salco | 22:a2c875629f2d | 57 | delaisNeed=-1; |
salco | 0:e4151abdff23 | 58 | } |
salco | 0:e4151abdff23 | 59 | char get_Sequence(void) { |
salco | 0:e4151abdff23 | 60 | return m_SequenceChosen; |
salco | 0:e4151abdff23 | 61 | } |
salco | 22:a2c875629f2d | 62 | void set_leg(char idLeg){m_idLegUse = idLeg;} |
salco | 22:a2c875629f2d | 63 | unsigned char get_Time(char idLeg){ |
salco | 22:a2c875629f2d | 64 | unsigned char result = timeSequence[idLeg-1]; |
salco | 22:a2c875629f2d | 65 | return (result==255)? DELAITESTE:result; |
salco | 22:a2c875629f2d | 66 | } |
salco | 0:e4151abdff23 | 67 | unsigned char* get_frame(/*char idSequence,*/char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 68 | unsigned char* get_frame(/*char idSequence,char idOperation,*/char idLeg); |
salco | 20:c825e7b07af7 | 69 | void set_frameID(char position) {m_idFrame = position;}; |
salco | 0:e4151abdff23 | 70 | bool next_frame(void); //return true if you are not at the end |
salco | 0:e4151abdff23 | 71 | bool prev_frame(void); //return true if you are not at the begining |
salco | 0:e4151abdff23 | 72 | }; |
salco | 0:e4151abdff23 | 73 | #endif /* HOMEMADESEQUENCE_H_ */ |