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@25:f3bd72f1dd8d, 2015-05-08 (annotated)

Committer:
salco
Date:
Fri May 08 22:01:07 2015 +0000
Revision:
25:f3bd72f1dd8d
Parent:
24:c7246270a852
Child:
26:15cb45d56c28
half compleet need only the exeption for foward and backward.

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 25:f3bd72f1dd8d 251 unsigned char table_seqFoward_PAUSE_TIME[41][2] = {
salco 24:c7246270a852 252 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 61, 50},
salco 24:c7246270a852 253 { 21, 20},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},
salco 24:c7246270a852 254 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 50},{ 21, 20},{ 41, 45},
salco 24:c7246270a852 255 { 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50},
salco 24:c7246270a852 256 { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50},
salco 25:f3bd72f1dd8d 257 { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}
salco 25:f3bd72f1dd8d 258 };
salco 25:f3bd72f1dd8d 259 unsigned char table_seqFoward[41][8][3] = {
salco 23:7b296b6d8285 260 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 261 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 262 },
salco 23:7b296b6d8285 263 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 264 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 265 },
salco 23:7b296b6d8285 266 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 267 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 268 },
salco 23:7b296b6d8285 269 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 270 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 271 },
salco 23:7b296b6d8285 272 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},//attention ici 2 temps diferant
salco 23:7b296b6d8285 273 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{200, 86,124}
salco 23:7b296b6d8285 274 },
salco 23:7b296b6d8285 275 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255},
salco 23:7b296b6d8285 276 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205, 95,124}
salco 23:7b296b6d8285 277 },
salco 23:7b296b6d8285 278 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 279 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 280 },
salco 23:7b296b6d8285 281 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255},
salco 23:7b296b6d8285 282 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 283 },
salco 23:7b296b6d8285 284 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{145,161,172}, /*12*/{255,255,255},
salco 23:7b296b6d8285 285 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130}
salco 23:7b296b6d8285 286 },
salco 23:7b296b6d8285 287 { /* 0*/{127,186,156}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255},
salco 23:7b296b6d8285 288 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{179, 81,167}
salco 23:7b296b6d8285 289 },
salco 23:7b296b6d8285 290 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
salco 23:7b296b6d8285 291 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 292 },
salco 23:7b296b6d8285 293 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},
salco 23:7b296b6d8285 294 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 295 },
salco 23:7b296b6d8285 296 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 297 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 298 },
salco 23:7b296b6d8285 299 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 300 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 301 },
salco 23:7b296b6d8285 302 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 303 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 304 },
salco 23:7b296b6d8285 305 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 306 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 307 },
salco 23:7b296b6d8285 308 { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 309 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255}
salco 23:7b296b6d8285 310 },
salco 23:7b296b6d8285 311 { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 312 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255}
salco 23:7b296b6d8285 313 },
salco 23:7b296b6d8285 314 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 315 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 316 },
salco 23:7b296b6d8285 317 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 318 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255}
salco 23:7b296b6d8285 319 },
salco 23:7b296b6d8285 320 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},//attention temps diferant ici
salco 23:7b296b6d8285 321 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{154,133,133}, /*28*/{255,255,255}
salco 23:7b296b6d8285 322 },
salco 23:7b296b6d8285 323 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 23:7b296b6d8285 324 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 325 },
salco 23:7b296b6d8285 326 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 327 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 328 },
salco 23:7b296b6d8285 329 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 330 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 331 },
salco 23:7b296b6d8285 332 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{145,158,173},
salco 23:7b296b6d8285 333 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 334 },
salco 23:7b296b6d8285 335 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps
salco 23:7b296b6d8285 336 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255}
salco 23:7b296b6d8285 337 },
salco 23:7b296b6d8285 338 { /* 0*/{127,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{116,219,134},
salco 23:7b296b6d8285 339 /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 340 },
salco 23:7b296b6d8285 341 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 342 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 343 },
salco 23:7b296b6d8285 344 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 345 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 346 },
salco 23:7b296b6d8285 347 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 348 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 349 },
salco 23:7b296b6d8285 350 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 351 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 352 },
salco 23:7b296b6d8285 353 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 354 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 355 },
salco 23:7b296b6d8285 356 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 357 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 358 },
salco 23:7b296b6d8285 359 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 360 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 361 },
salco 23:7b296b6d8285 362 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 363 /*16*/{204,110,107}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 364 },
salco 23:7b296b6d8285 365 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 366 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 367 },
salco 23:7b296b6d8285 368 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 369 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 370 },
salco 23:7b296b6d8285 371 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 372 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 373 },
salco 23:7b296b6d8285 374 { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 375 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 376 },
salco 23:7b296b6d8285 377 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 378 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 379 },
salco 23:7b296b6d8285 380 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 381 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 382 }
salco 23:7b296b6d8285 383 };
salco 25:f3bd72f1dd8d 384 unsigned char table_seqBackward_PAUSE_TIME[33][2] = {
salco 24:c7246270a852 385 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 31, 30},{ 61, 50},
salco 24:c7246270a852 386 { 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},
salco 24:c7246270a852 387 { 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 45},{ 21, 20},{ 41, 45},{ 21, 20},
salco 25:f3bd72f1dd8d 388 { 21, 20},{ 31, 30},{ 31, 50}
salco 25:f3bd72f1dd8d 389 };
salco 23:7b296b6d8285 390 unsigned char table_seqBackward[33][8][3] = {
salco 23:7b296b6d8285 391 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
salco 23:7b296b6d8285 392 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}
salco 23:7b296b6d8285 393 },
salco 23:7b296b6d8285 394 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{89,193,186}, /*12*/{255,255,255},
salco 23:7b296b6d8285 395 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205,95,124}
salco 23:7b296b6d8285 396 },
salco 23:7b296b6d8285 397 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 398 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 399 },
salco 23:7b296b6d8285 400 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255},
salco 23:7b296b6d8285 401 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 402 },
salco 23:7b296b6d8285 403 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},//attention ici 2 temps diferant
salco 23:7b296b6d8285 404 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{181, 81,167}
salco 23:7b296b6d8285 405 },
salco 23:7b296b6d8285 406 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 407 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 408 },
salco 23:7b296b6d8285 409 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 410 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 411 },
salco 23:7b296b6d8285 412 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 413 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 414 },
salco 23:7b296b6d8285 415 { /* 0*/{136,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 416 /*16*/{255,255,255}, /*20*/{176,108,146}, /*24*/{255,255,255}, /*28*/{179, 81,167}
salco 23:7b296b6d8285 417 },
salco 23:7b296b6d8285 418 { /* 0*/{123,217,135}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255},
salco 23:7b296b6d8285 419 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130}
salco 23:7b296b6d8285 420 },
salco 23:7b296b6d8285 421 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 422 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
salco 23:7b296b6d8285 423 },
salco 23:7b296b6d8285 424 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 425 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115}
salco 23:7b296b6d8285 426 },
salco 23:7b296b6d8285 427 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 428 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169}
salco 23:7b296b6d8285 429 },
salco 23:7b296b6d8285 430 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 431 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167}
salco 23:7b296b6d8285 432 },
salco 23:7b296b6d8285 433 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 434 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 435 },
salco 23:7b296b6d8285 436 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 437 /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 438 },
salco 23:7b296b6d8285 439 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 440 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 441 },
salco 23:7b296b6d8285 442 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 443 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 444 },
salco 23:7b296b6d8285 445 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},
salco 23:7b296b6d8285 446 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 447 },
salco 23:7b296b6d8285 448 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
salco 23:7b296b6d8285 449 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 450 },
salco 23:7b296b6d8285 451 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 452 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 453 },
salco 23:7b296b6d8285 454 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 455 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 456 },
salco 23:7b296b6d8285 457 { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{116,219,134},//attention plusieur temps
salco 23:7b296b6d8285 458 /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255}
salco 23:7b296b6d8285 459 },
salco 23:7b296b6d8285 460 { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 461 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255}
salco 23:7b296b6d8285 462 },
salco 23:7b296b6d8285 463 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 464 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 465 },
salco 23:7b296b6d8285 466 { /* 0*/{255,255,255}, /* 4*/{86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 467 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255}
salco 23:7b296b6d8285 468 },
salco 23:7b296b6d8285 469 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
salco 23:7b296b6d8285 470 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 471 },
salco 23:7b296b6d8285 472 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps
salco 23:7b296b6d8285 473 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255}
salco 23:7b296b6d8285 474 },
salco 23:7b296b6d8285 475 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{132,178,166},
salco 23:7b296b6d8285 476 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255}
salco 23:7b296b6d8285 477 },
salco 23:7b296b6d8285 478 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
salco 23:7b296b6d8285 479 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 480 },
salco 23:7b296b6d8285 481 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{92,198,199},
salco 23:7b296b6d8285 482 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 483 },
salco 23:7b296b6d8285 484 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145},
salco 23:7b296b6d8285 485 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 486 },
salco 23:7b296b6d8285 487 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142},
salco 23:7b296b6d8285 488 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
salco 23:7b296b6d8285 489 }
salco 23:7b296b6d8285 490 };
salco 19:0ac80045ba4c 491 /*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 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 19:0ac80045ba4c 495 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 496 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 497 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 498 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 499 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 500 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 501 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 502 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 503 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 504 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 505 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 506 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
salco 19:0ac80045ba4c 507 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
salco 19:0ac80045ba4c 508 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/
salco 0:e4151abdff23 509 homemadeSequence::homemadeSequence()
salco 0:e4151abdff23 510 {
salco 19:0ac80045ba4c 511 m_SequenceChosen=0;
salco 19:0ac80045ba4c 512 m_idFrame=0;
salco 22:a2c875629f2d 513 m_idLegUse =0;
salco 0:e4151abdff23 514 }
salco 0:e4151abdff23 515 homemadeSequence::~homemadeSequence()
salco 0:e4151abdff23 516 {
salco 0:e4151abdff23 517
salco 0:e4151abdff23 518 }
salco 0:e4151abdff23 519 unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg)
salco 0:e4151abdff23 520 {
salco 19:0ac80045ba4c 521 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame");
salco 0:e4151abdff23 522 m_posLeg[0] = 0;
salco 0:e4151abdff23 523 m_posLeg[1] = 0;
salco 0:e4151abdff23 524 m_posLeg[2] = 0;
salco 0:e4151abdff23 525 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 526 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg);
salco 19:0ac80045ba4c 527 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen);
salco 19:0ac80045ba4c 528 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame);
salco 0:e4151abdff23 529 switch(m_SequenceChosen) {
salco 0:e4151abdff23 530 case 1:// 01 - Calibration(milieu) //
salco 0:e4151abdff23 531 if(m_idFrame == 1) {//if(idOperation == 1) {
salco 0:e4151abdff23 532 m_posLeg[0] = 150;
salco 0:e4151abdff23 533 m_posLeg[1] = 150;
salco 0:e4151abdff23 534 m_posLeg[2] = 150;
salco 0:e4151abdff23 535 m_posLeg[3] = 150;
salco 19:0ac80045ba4c 536 } else {
salco 19:0ac80045ba4c 537 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 538 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 539 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 540 m_posLeg[3] = 0;
salco 0:e4151abdff23 541 }
salco 0:e4151abdff23 542 break;
salco 0:e4151abdff23 543
salco 0:e4151abdff23 544 case 2:// 02 - Debout //
salco 0:e4151abdff23 545 seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg);
salco 0:e4151abdff23 546 break;
salco 0:e4151abdff23 547 case 3:// 03 - Coucher //
salco 0:e4151abdff23 548 seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg);
salco 0:e4151abdff23 549 break;
salco 0:e4151abdff23 550 case 4:// 04 - Tourne Gauche //
salco 25:f3bd72f1dd8d 551 seqTurn(false,m_idFrame,idLeg);
salco 0:e4151abdff23 552 break;
salco 0:e4151abdff23 553 case 5:// 05 - Tourne Droite //
salco 25:f3bd72f1dd8d 554 seqTurn(true,m_idFrame,idLeg);
salco 0:e4151abdff23 555 break;
salco 0:e4151abdff23 556 case 6:// 06 - Marche //
salco 25:f3bd72f1dd8d 557 seqWalk(true,m_idFrame,idLeg);
salco 0:e4151abdff23 558 break;
salco 0:e4151abdff23 559 case 7:// 07 - Recule //
salco 25:f3bd72f1dd8d 560 seqWalk(false,m_idFrame,idLeg);
salco 0:e4151abdff23 561 break;
salco 0:e4151abdff23 562 case 8:// 07 - Repositioner //
salco 22:a2c875629f2d 563 seqRepositioner(m_idFrame,idLeg);
salco 0:e4151abdff23 564 break;
salco 0:e4151abdff23 565 case 9:// 09 - Crabe Gauche //
salco 21:5c17b7836733 566 seqCrabe(false,m_idFrame,idLeg);
salco 0:e4151abdff23 567 break;
salco 0:e4151abdff23 568 case 10:// 10 - Crabe Droite //
salco 21:5c17b7836733 569 seqCrabe(true,m_idFrame,idLeg);
salco 0:e4151abdff23 570 break;
salco 0:e4151abdff23 571 }
salco 19:0ac80045ba4c 572 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 573 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame");
salco 0:e4151abdff23 574 return m_posLeg;
salco 0:e4151abdff23 575 }
salco 0:e4151abdff23 576
salco 0:e4151abdff23 577 void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg)
salco 0:e4151abdff23 578 {
salco 0:e4151abdff23 579 if((idOperation<10)&&(idOperation>0)) {
salco 19:0ac80045ba4c 580 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 581 case 1://#0
salco 0:e4151abdff23 582 m_posLeg[0] = 140;
salco 0:e4151abdff23 583 break;
salco 22:a2c875629f2d 584 case 2://#4
salco 0:e4151abdff23 585 m_posLeg[0] = 165;
salco 0:e4151abdff23 586 break;
salco 22:a2c875629f2d 587 case 3://#8
salco 0:e4151abdff23 588 m_posLeg[0] = 160;
salco 0:e4151abdff23 589 break;
salco 22:a2c875629f2d 590 case 6://#20
salco 0:e4151abdff23 591 m_posLeg[0] = 133;
salco 0:e4151abdff23 592 break;
salco 22:a2c875629f2d 593 case 7://#24
salco 0:e4151abdff23 594 m_posLeg[0] = 170;
salco 0:e4151abdff23 595 break;
salco 22:a2c875629f2d 596 default://#12 #28
salco 0:e4151abdff23 597 m_posLeg[0] = 150;
salco 0:e4151abdff23 598 break;
salco 0:e4151abdff23 599 }
salco 22:a2c875629f2d 600 if(downUP) {
salco 19:0ac80045ba4c 601 if(idLeg<5)
salco 19:0ac80045ba4c 602 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 603 else
salco 19:0ac80045ba4c 604 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1];
salco 22:a2c875629f2d 605 } else {
salco 19:0ac80045ba4c 606 if(idLeg<5)
salco 19:0ac80045ba4c 607 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1];
salco 19:0ac80045ba4c 608 else
salco 19:0ac80045ba4c 609 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1];
salco 22:a2c875629f2d 610 }
salco 19:0ac80045ba4c 611 /*if(idOperation == 1) {
salco 0:e4151abdff23 612 if(idLeg<5) {
salco 0:e4151abdff23 613 m_posLeg[1] = 80;
salco 0:e4151abdff23 614 m_posLeg[2] = 210;
salco 0:e4151abdff23 615 m_posLeg[3] = 160;
salco 0:e4151abdff23 616 } else {
salco 0:e4151abdff23 617 m_posLeg[1] = 220;
salco 0:e4151abdff23 618 m_posLeg[2] = 90;
salco 0:e4151abdff23 619 m_posLeg[3] = 114;
salco 0:e4151abdff23 620 }
salco 0:e4151abdff23 621
salco 0:e4151abdff23 622 } else {
salco 0:e4151abdff23 623 if(!downUP) {
salco 0:e4151abdff23 624 if(idOperation == 9) {
salco 0:e4151abdff23 625 if(idLeg<5) {
salco 0:e4151abdff23 626 m_posLeg[1] = 80;
salco 0:e4151abdff23 627 m_posLeg[2] = 100;
salco 0:e4151abdff23 628 m_posLeg[3] = 150;
salco 0:e4151abdff23 629 } else {
salco 0:e4151abdff23 630 m_posLeg[1] = 220;
salco 0:e4151abdff23 631 m_posLeg[2] = 200;
salco 0:e4151abdff23 632 m_posLeg[3] = 150;
salco 0:e4151abdff23 633 }
salco 0:e4151abdff23 634 }
salco 0:e4151abdff23 635 idOperation = 10 - idOperation;
salco 0:e4151abdff23 636 }
salco 0:e4151abdff23 637
salco 0:e4151abdff23 638 switch(idOperation) {
salco 19:0ac80045ba4c 639 case 1:
salco 0:e4151abdff23 640
salco 19:0ac80045ba4c 641 break;
salco 0:e4151abdff23 642 case 2:
salco 0:e4151abdff23 643 if(idLeg<5) {
salco 0:e4151abdff23 644 m_posLeg[1] = 80;
salco 0:e4151abdff23 645 m_posLeg[2] = 220;
salco 0:e4151abdff23 646 m_posLeg[3] = 170;
salco 0:e4151abdff23 647 } else {
salco 0:e4151abdff23 648 m_posLeg[1] = 220;
salco 0:e4151abdff23 649 m_posLeg[2] = 80;
salco 0:e4151abdff23 650 m_posLeg[3] = 130;
salco 0:e4151abdff23 651 }
salco 0:e4151abdff23 652 break;
salco 0:e4151abdff23 653 case 3:
salco 0:e4151abdff23 654 if(idLeg<5) {
salco 0:e4151abdff23 655 m_posLeg[1] = 90;
salco 0:e4151abdff23 656 m_posLeg[2] = 220;
salco 0:e4151abdff23 657 m_posLeg[3] = 160;
salco 0:e4151abdff23 658 } else {
salco 0:e4151abdff23 659 m_posLeg[1] = 200;
salco 0:e4151abdff23 660 m_posLeg[2] = 200;
salco 0:e4151abdff23 661 m_posLeg[3] = 140;
salco 0:e4151abdff23 662 }
salco 0:e4151abdff23 663 break;
salco 0:e4151abdff23 664 case 4:
salco 0:e4151abdff23 665 if(idLeg<5) {
salco 0:e4151abdff23 666 m_posLeg[1] = 106;
salco 0:e4151abdff23 667 m_posLeg[2] = 220;
salco 0:e4151abdff23 668 m_posLeg[3] = 150;
salco 0:e4151abdff23 669 } else {
salco 0:e4151abdff23 670 m_posLeg[1] = 195;
salco 0:e4151abdff23 671 m_posLeg[2] = 80;
salco 0:e4151abdff23 672 m_posLeg[3] = 150;
salco 0:e4151abdff23 673 }
salco 0:e4151abdff23 674 break;
salco 0:e4151abdff23 675 case 5:
salco 0:e4151abdff23 676 if(idLeg<5) {
salco 0:e4151abdff23 677 m_posLeg[1] = 128;
salco 0:e4151abdff23 678 m_posLeg[2] = 220;
salco 0:e4151abdff23 679 m_posLeg[3] = 128;
salco 0:e4151abdff23 680 } else {
salco 0:e4151abdff23 681 m_posLeg[1] = 172;
salco 0:e4151abdff23 682 m_posLeg[2] = 80;
salco 0:e4151abdff23 683 m_posLeg[3] = 173;
salco 0:e4151abdff23 684 }
salco 0:e4151abdff23 685 break;
salco 0:e4151abdff23 686 case 6:
salco 0:e4151abdff23 687 if(idLeg<5) {
salco 0:e4151abdff23 688 m_posLeg[1] = 144;
salco 0:e4151abdff23 689 m_posLeg[2] = 205;
salco 0:e4151abdff23 690 m_posLeg[3] = 130;
salco 0:e4151abdff23 691 } else {
salco 0:e4151abdff23 692 m_posLeg[1] = 156;
salco 0:e4151abdff23 693 m_posLeg[2] = 95;
salco 0:e4151abdff23 694 m_posLeg[3] = 170;
salco 0:e4151abdff23 695 }
salco 0:e4151abdff23 696 break;
salco 0:e4151abdff23 697 case 7:
salco 0:e4151abdff23 698 if(idLeg<5) {
salco 0:e4151abdff23 699 m_posLeg[1] = 144;
salco 0:e4151abdff23 700 m_posLeg[2] = 211;
salco 0:e4151abdff23 701 m_posLeg[3] = 123;
salco 0:e4151abdff23 702 } else {
salco 0:e4151abdff23 703 m_posLeg[1] = 156;
salco 0:e4151abdff23 704 m_posLeg[2] = 89;
salco 0:e4151abdff23 705 m_posLeg[3] = 177;
salco 0:e4151abdff23 706 }
salco 0:e4151abdff23 707 break;
salco 0:e4151abdff23 708 case 8:
salco 0:e4151abdff23 709 if(idLeg<5) {
salco 0:e4151abdff23 710 m_posLeg[1] = 172;
salco 0:e4151abdff23 711 m_posLeg[2] = 185;
salco 0:e4151abdff23 712 m_posLeg[3] = 124;
salco 0:e4151abdff23 713 } else {
salco 0:e4151abdff23 714 m_posLeg[1] = 128;
salco 0:e4151abdff23 715 m_posLeg[2] = 115;
salco 0:e4151abdff23 716 m_posLeg[3] = 176;
salco 0:e4151abdff23 717 }
salco 0:e4151abdff23 718 break;
salco 0:e4151abdff23 719 case 9:
salco 0:e4151abdff23 720 if(idLeg<5) {
salco 0:e4151abdff23 721 m_posLeg[1] = 194;
salco 0:e4151abdff23 722 m_posLeg[2] = 166;
salco 0:e4151abdff23 723 m_posLeg[3] = 118;
salco 0:e4151abdff23 724 } else {
salco 0:e4151abdff23 725 m_posLeg[1] = 106;
salco 0:e4151abdff23 726 m_posLeg[2] = 134;
salco 0:e4151abdff23 727 m_posLeg[3] = 182;
salco 0:e4151abdff23 728 }
salco 0:e4151abdff23 729 break;
salco 19:0ac80045ba4c 730 default:
salco 19:0ac80045ba4c 731 m_posLeg[0] = 0;
salco 19:0ac80045ba4c 732 m_posLeg[1] = 0;
salco 19:0ac80045ba4c 733 m_posLeg[2] = 0;
salco 19:0ac80045ba4c 734 m_posLeg[3] = 0;
salco 19:0ac80045ba4c 735 break;
salco 0:e4151abdff23 736 }
salco 19:0ac80045ba4c 737 }*/
salco 0:e4151abdff23 738 }
salco 0:e4151abdff23 739 }
salco 0:e4151abdff23 740 void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
salco 22:a2c875629f2d 741 {
salco 22:a2c875629f2d 742 if(idOperation<32) {
salco 22:a2c875629f2d 743 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqTurn[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 744 delaisNeed = (table_seqTurn_PAUSE_TIME[idOperation-1][0])*10;
salco 22:a2c875629f2d 745 timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1];
salco 22:a2c875629f2d 746
salco 22:a2c875629f2d 747 switch(idOperation) {
salco 22:a2c875629f2d 748
salco 22:a2c875629f2d 749 case 3:
salco 22:a2c875629f2d 750 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 751 case 3://#8
salco 22:a2c875629f2d 752 m_posLeg[0]= (leftRIGHT)? 180:140;
salco 22:a2c875629f2d 753 break;
salco 22:a2c875629f2d 754 case 6://#20
salco 22:a2c875629f2d 755 m_posLeg[0]= (leftRIGHT)? 150:114;
salco 22:a2c875629f2d 756 break;
salco 22:a2c875629f2d 757 }
salco 22:a2c875629f2d 758 break;
salco 22:a2c875629f2d 759 case 11:
salco 22:a2c875629f2d 760 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 761 case 1://#0
salco 22:a2c875629f2d 762 m_posLeg[0]= (leftRIGHT)? 150:110;
salco 22:a2c875629f2d 763 break;
salco 22:a2c875629f2d 764 case 7://28
salco 22:a2c875629f2d 765 m_posLeg[0]= (leftRIGHT)? 164:104;
salco 22:a2c875629f2d 766 break;
salco 22:a2c875629f2d 767 }
salco 22:a2c875629f2d 768 break;
salco 22:a2c875629f2d 769 case 17:
salco 22:a2c875629f2d 770 switch(idLeg) { //moving hips
salco 22:a2c875629f2d 771 case 1://#0
salco 22:a2c875629f2d 772 m_posLeg[0]= 140;
salco 22:a2c875629f2d 773 break;
salco 22:a2c875629f2d 774 case 2://4
salco 22:a2c875629f2d 775 m_posLeg[0]= (leftRIGHT)? 150:176;
salco 22:a2c875629f2d 776 break;
salco 22:a2c875629f2d 777 case 3://8
salco 22:a2c875629f2d 778 m_posLeg[0]= 160;
salco 22:a2c875629f2d 779 break;
salco 22:a2c875629f2d 780 case 6://20
salco 22:a2c875629f2d 781 m_posLeg[0]= 133;
salco 22:a2c875629f2d 782 break;
salco 22:a2c875629f2d 783 case 7://24
salco 22:a2c875629f2d 784 m_posLeg[0]= (leftRIGHT)? 153:183;
salco 22:a2c875629f2d 785 break;
salco 22:a2c875629f2d 786 case 8://28
salco 22:a2c875629f2d 787 m_posLeg[0]= 133;
salco 22:a2c875629f2d 788 break;
salco 22:a2c875629f2d 789 }
salco 22:a2c875629f2d 790 if((idLeg != 4) || (idLeg != 5))
salco 22:a2c875629f2d 791 timeSequence[idLeg-1] = 30;
salco 22:a2c875629f2d 792
salco 22:a2c875629f2d 793 break;
salco 22:a2c875629f2d 794
salco 22:a2c875629f2d 795 case 25:
salco 22:a2c875629f2d 796 if(idLeg == 7)
salco 22:a2c875629f2d 797 m_posLeg[0] = 170;
salco 22:a2c875629f2d 798 break;
salco 22:a2c875629f2d 799
salco 22:a2c875629f2d 800 case 29:
salco 22:a2c875629f2d 801 if(idLeg == 2)
salco 22:a2c875629f2d 802 m_posLeg[0] = 165;
salco 22:a2c875629f2d 803 break;
salco 22:a2c875629f2d 804 //case :
salco 22:a2c875629f2d 805 //break;
salco 22:a2c875629f2d 806 default:
salco 22:a2c875629f2d 807 m_posLeg[0]= 255;
salco 22:a2c875629f2d 808 break;
salco 22:a2c875629f2d 809 }
salco 22:a2c875629f2d 810
salco 22:a2c875629f2d 811
salco 22:a2c875629f2d 812
salco 22:a2c875629f2d 813 } else
salco 22:a2c875629f2d 814 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 815 }
salco 0:e4151abdff23 816 void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
salco 25:f3bd72f1dd8d 817 {
salco 25:f3bd72f1dd8d 818 if(backFRONT) {
salco 25:f3bd72f1dd8d 819 if(idOperation<41) {
salco 25:f3bd72f1dd8d 820 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqFoward[idOperation-1][idLeg-1][i-1];
salco 25:f3bd72f1dd8d 821 delaisNeed = (table_seqFoward_PAUSE_TIME[idOperation-1][0])*10;
salco 25:f3bd72f1dd8d 822 timeSequence[idLeg-1] = table_seqFoward_PAUSE_TIME[idOperation-1][1];
salco 25:f3bd72f1dd8d 823
salco 25:f3bd72f1dd8d 824 //manque qqch ici
salco 25:f3bd72f1dd8d 825 } else
salco 25:f3bd72f1dd8d 826 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 25:f3bd72f1dd8d 827
salco 25:f3bd72f1dd8d 828 } else {
salco 25:f3bd72f1dd8d 829 if(idOperation<33) {
salco 25:f3bd72f1dd8d 830 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqBackward[idOperation-1][idLeg-1][i-1];
salco 25:f3bd72f1dd8d 831 delaisNeed = (table_seqBackward_PAUSE_TIME[idOperation-1][0])*10;
salco 25:f3bd72f1dd8d 832 timeSequence[idLeg-1] = table_seqBackward_PAUSE_TIME[idOperation-1][1];
salco 25:f3bd72f1dd8d 833
salco 25:f3bd72f1dd8d 834 //manque qqch ici
salco 25:f3bd72f1dd8d 835 } else
salco 25:f3bd72f1dd8d 836 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 25:f3bd72f1dd8d 837 }
salco 25:f3bd72f1dd8d 838 }
salco 0:e4151abdff23 839 void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
salco 22:a2c875629f2d 840 {
salco 22:a2c875629f2d 841 if(idOperation<6) {
salco 22:a2c875629f2d 842 if(m_idLegUse == idLeg) {
salco 22:a2c875629f2d 843 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqRepositionne[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 844
salco 22:a2c875629f2d 845 timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1];
salco 22:a2c875629f2d 846
salco 22:a2c875629f2d 847 if(idOperation == 5) {
salco 22:a2c875629f2d 848 switch(idLeg) {
salco 22:a2c875629f2d 849 case 1:
salco 22:a2c875629f2d 850 m_posLeg[0] = 137;
salco 22:a2c875629f2d 851 break;
salco 22:a2c875629f2d 852 case 2:
salco 22:a2c875629f2d 853 m_posLeg[0] = 165;
salco 22:a2c875629f2d 854 break;
salco 22:a2c875629f2d 855 case 3:
salco 22:a2c875629f2d 856 m_posLeg[0] = 160;
salco 22:a2c875629f2d 857 break;
salco 22:a2c875629f2d 858 case 4:
salco 22:a2c875629f2d 859 m_posLeg[0] = 150;
salco 22:a2c875629f2d 860 break;
salco 22:a2c875629f2d 861 case 5:
salco 22:a2c875629f2d 862 m_posLeg[0] = 153;
salco 22:a2c875629f2d 863 break;
salco 22:a2c875629f2d 864 case 6:
salco 22:a2c875629f2d 865 m_posLeg[0] = 133;
salco 22:a2c875629f2d 866 break;
salco 22:a2c875629f2d 867 case 7:
salco 22:a2c875629f2d 868 m_posLeg[0] = 170;
salco 22:a2c875629f2d 869 break;
salco 22:a2c875629f2d 870 case 8:
salco 22:a2c875629f2d 871 m_posLeg[0] = 144;
salco 22:a2c875629f2d 872 break;
salco 22:a2c875629f2d 873 }
salco 22:a2c875629f2d 874 }
salco 22:a2c875629f2d 875
salco 22:a2c875629f2d 876 } else
salco 22:a2c875629f2d 877 for(int i=0; i <= 3; i++)m_posLeg[i]=255;
salco 22:a2c875629f2d 878 delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
salco 22:a2c875629f2d 879 } else
salco 22:a2c875629f2d 880 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 881 }
salco 0:e4151abdff23 882 void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg)
salco 21:5c17b7836733 883 {
salco 22:a2c875629f2d 884 if(idOperation<33) {
salco 22:a2c875629f2d 885 if(leftRIGHT)
salco 22:a2c875629f2d 886 idOperation=33-idOperation;
salco 22:a2c875629f2d 887
salco 21:5c17b7836733 888 switch(idLeg) { //moving hips
salco 21:5c17b7836733 889 case 1:
salco 21:5c17b7836733 890 m_posLeg[0] = 140;
salco 21:5c17b7836733 891 break;
salco 21:5c17b7836733 892 case 2:
salco 21:5c17b7836733 893 m_posLeg[0] = 165;
salco 21:5c17b7836733 894 break;
salco 21:5c17b7836733 895 case 3:
salco 21:5c17b7836733 896 m_posLeg[0] = 160;
salco 21:5c17b7836733 897 break;
salco 21:5c17b7836733 898 case 6:
salco 21:5c17b7836733 899 m_posLeg[0] = 133;
salco 21:5c17b7836733 900 break;
salco 21:5c17b7836733 901 case 7:
salco 21:5c17b7836733 902 m_posLeg[0] = 170;
salco 21:5c17b7836733 903 break;
salco 21:5c17b7836733 904 default:
salco 21:5c17b7836733 905 m_posLeg[0] = 150;
salco 21:5c17b7836733 906 break;
salco 21:5c17b7836733 907 }
salco 22:a2c875629f2d 908
salco 21:5c17b7836733 909 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqCrabe[idOperation-1][idLeg-1][i-1];
salco 22:a2c875629f2d 910
salco 22:a2c875629f2d 911
salco 21:5c17b7836733 912 //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 913 } else
salco 22:a2c875629f2d 914 for(int i=0; i <= 3; i++) m_posLeg[i]=0;
salco 22:a2c875629f2d 915
salco 22:a2c875629f2d 916
salco 21:5c17b7836733 917 }
salco 0:e4151abdff23 918 bool homemadeSequence::next_frame(void)
salco 0:e4151abdff23 919 {
salco 19:0ac80045ba4c 920 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame");
salco 19:0ac80045ba4c 921 bool temp=false;
salco 19:0ac80045ba4c 922 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 923
salco 22:a2c875629f2d 924
salco 19:0ac80045ba4c 925 //if(m_idFrame > 1){
salco 0:e4151abdff23 926 m_idFrame++;
salco 19:0ac80045ba4c 927 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 928
salco 22:a2c875629f2d 929 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
salco 19:0ac80045ba4c 930 temp=true;
salco 22:a2c875629f2d 931 //m_idFrame++;//get_frame(m_idFrame);
salco 22:a2c875629f2d 932 if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
salco 22:a2c875629f2d 933 delaisNextSeq.reset();
salco 22:a2c875629f2d 934 delaisNeed=-1;
salco 22:a2c875629f2d 935 for(int i=0; i<8; i++)timeSequence[i]=0;
salco 22:a2c875629f2d 936 } else
salco 22:a2c875629f2d 937 m_idFrame--;
salco 22:a2c875629f2d 938 } else
salco 19:0ac80045ba4c 939 m_idFrame--;
salco 19:0ac80045ba4c 940
salco 19:0ac80045ba4c 941 //}
salco 19:0ac80045ba4c 942 //}
salco 19:0ac80045ba4c 943 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 944 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame");
salco 22:a2c875629f2d 945
salco 0:e4151abdff23 946 return temp;
salco 0:e4151abdff23 947 }
salco 19:0ac80045ba4c 948 bool homemadeSequence::prev_frame(void) //true == prev is ok
salco 0:e4151abdff23 949 {
salco 19:0ac80045ba4c 950 //false == impossible
salco 19:0ac80045ba4c 951 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame");
salco 19:0ac80045ba4c 952 bool temp=false;
salco 19:0ac80045ba4c 953 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 954
salco 22:a2c875629f2d 955
salco 19:0ac80045ba4c 956 if(m_idFrame > 1) {
salco 19:0ac80045ba4c 957 m_idFrame--;
salco 19:0ac80045ba4c 958 unsigned char* tmpTable = get_frame(1);
salco 0:e4151abdff23 959
salco 22:a2c875629f2d 960 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
salco 19:0ac80045ba4c 961 temp=true;
salco 22:a2c875629f2d 962 //m_idFrame++;//get_frame(m_idFrame);
salco 22:a2c875629f2d 963 if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
salco 22:a2c875629f2d 964 delaisNextSeq.reset();
salco 22:a2c875629f2d 965 delaisNeed=-1;
salco 22:a2c875629f2d 966 for(int i=0; i<8; i++)timeSequence[i]=0;
salco 22:a2c875629f2d 967 } else
salco 22:a2c875629f2d 968 m_idFrame++;
salco 22:a2c875629f2d 969 } else
salco 19:0ac80045ba4c 970 m_idFrame++;
salco 19:0ac80045ba4c 971
salco 19:0ac80045ba4c 972 //}
salco 19:0ac80045ba4c 973 }
salco 19:0ac80045ba4c 974 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
salco 19:0ac80045ba4c 975 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame");
salco 22:a2c875629f2d 976
salco 0:e4151abdff23 977 return temp;
salco 0:e4151abdff23 978 }