Alexandre Salconi-Denis
/
ProjetOctopode
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/homemadeSequence.h@0:e4151abdff23, 2015-03-10 (annotated)
- Committer:
- salco
- Date:
- Tue Mar 10 12:49:59 2015 +0000
- Revision:
- 0:e4151abdff23
Creation de tout les doccuments necessaires
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 | 0:e4151abdff23 | 10 | class homemadeSequence |
salco | 0:e4151abdff23 | 11 | { |
salco | 0:e4151abdff23 | 12 | ////////////////////////////// |
salco | 0:e4151abdff23 | 13 | // 00 - Nothing // |
salco | 0:e4151abdff23 | 14 | // 01 - Calibration(milieu) // |
salco | 0:e4151abdff23 | 15 | // 02 - Debout // |
salco | 0:e4151abdff23 | 16 | // 03 - Coucher // |
salco | 0:e4151abdff23 | 17 | // 04 - Tourne Gauche // |
salco | 0:e4151abdff23 | 18 | // 05 - Tourne Droite // |
salco | 0:e4151abdff23 | 19 | // 06 - Marche // |
salco | 0:e4151abdff23 | 20 | // 07 - Recule // |
salco | 0:e4151abdff23 | 21 | // 08 - Repositioner // |
salco | 0:e4151abdff23 | 22 | // 09 - Crabe Gauche // |
salco | 0:e4151abdff23 | 23 | // 10 - Crabe Droite // |
salco | 0:e4151abdff23 | 24 | ////////////////////////////// |
salco | 0:e4151abdff23 | 25 | char m_SequenceChosen; |
salco | 0:e4151abdff23 | 26 | char m_idFrame; |
salco | 0:e4151abdff23 | 27 | |
salco | 0:e4151abdff23 | 28 | unsigned char m_posLeg[4]; |
salco | 0:e4151abdff23 | 29 | |
salco | 0:e4151abdff23 | 30 | void seqUpDown(bool downUP,char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 31 | void seqTurn(bool leftRIGHT,char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 32 | void seqWalk(bool backFRONT,char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 33 | void seqRepositioner(char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 34 | void seqCrabe(bool leftRIGHT,char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 35 | |
salco | 0:e4151abdff23 | 36 | public: |
salco | 0:e4151abdff23 | 37 | homemadeSequence(); |
salco | 0:e4151abdff23 | 38 | ~homemadeSequence(); |
salco | 0:e4151abdff23 | 39 | void set_Sequence(char idSequence) { |
salco | 0:e4151abdff23 | 40 | m_SequenceChosen = idSequence; |
salco | 0:e4151abdff23 | 41 | m_idFrame = 1; |
salco | 0:e4151abdff23 | 42 | } |
salco | 0:e4151abdff23 | 43 | char get_Sequence(void) { |
salco | 0:e4151abdff23 | 44 | return m_SequenceChosen; |
salco | 0:e4151abdff23 | 45 | } |
salco | 0:e4151abdff23 | 46 | unsigned char* get_frame(/*char idSequence,*/char idOperation,char idLeg); |
salco | 0:e4151abdff23 | 47 | unsigned char* get_frame(/*char idSequence,char idOperation,*/char idLeg); |
salco | 0:e4151abdff23 | 48 | bool next_frame(void); //return true if you are not at the end |
salco | 0:e4151abdff23 | 49 | bool prev_frame(void); //return true if you are not at the begining |
salco | 0:e4151abdff23 | 50 | }; |
salco | 0:e4151abdff23 | 51 | #endif /* HOMEMADESEQUENCE_H_ */ |