Alexandre Salconi-Denis
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
Diff: source/Motrice/homemadeSequence.cpp
- Revision:
- 22:a2c875629f2d
- Parent:
- 21:5c17b7836733
- Child:
- 23:7b296b6d8285
diff -r 5c17b7836733 -r a2c875629f2d source/Motrice/homemadeSequence.cpp
--- a/source/Motrice/homemadeSequence.cpp Fri May 08 01:33:51 2015 +0000
+++ b/source/Motrice/homemadeSequence.cpp Fri May 08 19:57:25 2015 +0000
@@ -6,156 +6,248 @@
*/
#include "homemadeSequence.h"
unsigned char table_seqUp[9][2][3] = { { {80 , 210, 160}, {220, 90 , 114} },
- { {80 , 220, 170}, {220, 80 , 130} },
- { {90 , 220, 160}, {200, 80 , 140} },
- { {106, 220, 150}, {194, 80 , 150} },
- { {128, 220, 127}, {172, 80 , 173} },
- { {144, 205, 130}, {156, 95 , 170} },
- { {144, 210, 123}, {156, 89 , 177} },
- { {172, 185, 124}, {128, 115, 176} },
- { {194, 166, 118}, {106, 134, 182} } };
-
+ { {80 , 220, 170}, {220, 80 , 130} },
+ { {90 , 220, 160}, {200, 80 , 140} },
+ { {106, 220, 150}, {194, 80 , 150} },
+ { {128, 220, 127}, {172, 80 , 173} },
+ { {144, 205, 130}, {156, 95 , 170} },
+ { {144, 210, 123}, {156, 89 , 177} },
+ { {172, 185, 124}, {128, 115, 176} },
+ { {194, 166, 118}, {106, 134, 182} }
+};
+
unsigned char table_seqDown[9][2][3] = { { {172, 185, 124}, {128, 115, 176} },
- { {172, 185, 124}, {128, 115, 176} },
- { {144, 210, 123}, {156, 89 , 177} },
- { {144, 205, 130}, {156, 95 , 170} },
- { {128, 220, 127}, {172, 80 , 173} },
- { {106, 220, 150}, {194, 80 , 150} },
- { {90 , 220, 160}, {200, 80 , 140} },
- { {80 , 220, 170}, {220, 80 , 130} },
- { {80 , 100, 150}, {220, 200, 150} } };//fin de la seq il met ses patte sur sa tete**
-
+ { {172, 185, 124}, {128, 115, 176} },
+ { {144, 210, 123}, {156, 89 , 177} },
+ { {144, 205, 130}, {156, 95 , 170} },
+ { {128, 220, 127}, {172, 80 , 173} },
+ { {106, 220, 150}, {194, 80 , 150} },
+ { {90 , 220, 160}, {200, 80 , 140} },
+ { {80 , 220, 170}, {220, 80 , 130} },
+ { {80 , 100, 150}, {220, 200, 150} }
+};//fin de la seq il met ses patte sur sa tete**
+
unsigned char table_seqCrabe[33][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{125, 184, 156}, /* 8*/{132, 215, 147}, /*12*/{255,255,255},
- /*16*/{203,101,128}, /*20*/{255,255,255}, /*24*/{176, 87, 163}, /*28*/{191, 103,133} },
- { /* 0*/{255,255,255}, /* 4*/{111, 185, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{209, 99,140}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{196, 105,142} },
- { /* 0*/{255,255,255}, /* 4*/{103, 192, 155}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{203,108,137}, /*20*/{255, 255, 255}, /*24*/{170, 88, 159}, /*28*/{191, 112,141} },
- { /* 0*/{255,255,255}, /* 4*/{ 98, 199, 158}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{196,114,137}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{184, 118,142} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{182,115,144}, /*20*/{255, 255, 255}, /*24*/{169, 83, 164}, /*28*/{172, 118,142} },
- { /* 0*/{255,255,255}, /* 4*/{102, 201, 170}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{152,137,139}, /*20*/{255, 255, 255}, /*24*/{169, 78, 155}, /*28*/{146, 137,142} },
- { /* 0*/{255,255,255}, /* 4*/{102, 207, 179}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 76, 137}, /*28*/{255, 255,255} },
- { /* 0*/{255,255,255}, /* 4*/{ 94, 213, 183}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 77, 131}, /*28*/{255, 255,255} },
- { /* 0*/{255,255,255}, /* 4*/{106, 216, 175}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{208, 75, 116}, /*28*/{255, 255,255} },
- { /* 0*/{255,255,255}, /* 4*/{129, 217, 165}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{225, 75, 109}, /*28*/{255, 255,255} },
- { /* 0*/{255,255,255}, /* 4*/{129, 221, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
- /*16*/{255,255,255}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{255, 255,255} },
- { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{255, 255, 255}, /*12*/{149, 158,159},
- /*16*/{255,255,255}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{255, 255,255} },
- { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{255, 255, 255}, /*12*/{121, 180,156},
- /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{215, 93, 140}, /*28*/{255, 255,255} },
- { /* 0*/{113,176,156}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{107, 182,156},
- /*16*/{255,255,255}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{255, 255,255} },
- { /* 0*/{105,183,155}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{100, 187,150},
- /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{202, 106, 142}, /*28*/{255, 255,255} },
- { /* 0*/{100,191,158}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 96, 193,155},
- /*16*/{255,255,255}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{255, 255,255} },
- { /* 0*/{103,193,170}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 197,170},
- /*16*/{255,255,255}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{255, 255,255} },
- { /* 0*/{103,200,177}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 201,177},
- /*16*/{255,255,255}, /*20*/{177, 80, 145}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
- { /* 0*/{ 96,205,182}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 91, 208,176},
- /*16*/{255,255,255}, /*20*/{177, 87, 130}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
- { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
- /*16*/{255,255,255}, /*20*/{192, 92, 123}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
- { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
- /*16*/{255,255,255}, /*20*/{218, 79, 120}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
- { /* 0*/{129,219,151}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{125, 213,157},
- /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{255, 255, 255}, /*28*/{154, 116,150} },
- { /* 0*/{140,209,142}, /* 4*/{255, 255, 255}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145},
- /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{255, 255, 255}, /*28*/{163, 93,168} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{115, 182, 158}, /*12*/{255, 255,255},
- /*16*/{255,255,255}, /*20*/{212, 97, 142}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{101, 183, 156}, /*12*/{255, 255,255},
- /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{255, 255, 255}, /*28*/{160, 96,160} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 94, 190, 154}, /*12*/{255, 255,255},
- /*16*/{255,255,255}, /*20*/{197, 113, 144}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 89, 197, 158}, /*12*/{255, 255,255},
- /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{255, 255, 255}, /*28*/{161, 88,162} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 200, 171}, /*12*/{255, 255,255},
- /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{255, 255, 255}, /*28*/{166, 86,156} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 205, 175}, /*12*/{255, 255,255},
- /*16*/{177, 82,133}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 82,143} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 82, 215, 177}, /*12*/{255, 255,255},
- /*16*/{177, 85,126}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 84,135} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 96, 214, 176}, /*12*/{255, 255,255},
- /*16*/{191,101,113}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{190, 86,124} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 213, 158}, /*12*/{255, 255,255},
- /*16*/{213, 83,124}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{202, 88,121} },
- { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 217, 154}, /*12*/{255, 255,255},
- /*16*/{203, 95,110}, /*20*/{255, 255, 255}, /*24*/{165, 109, 152}, /*28*/{191, 101,120} }};
+ /*16*/{203,101,128}, /*20*/{255,255,255}, /*24*/{176, 87, 163}, /*28*/{191, 103,133}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{111, 185, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{209, 99,140}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{196, 105,142}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{103, 192, 155}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{203,108,137}, /*20*/{255, 255, 255}, /*24*/{170, 88, 159}, /*28*/{191, 112,141}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{ 98, 199, 158}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{196,114,137}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{184, 118,142}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{182,115,144}, /*20*/{255, 255, 255}, /*24*/{169, 83, 164}, /*28*/{172, 118,142}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{102, 201, 170}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{152,137,139}, /*20*/{255, 255, 255}, /*24*/{169, 78, 155}, /*28*/{146, 137,142}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{102, 207, 179}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 76, 137}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{ 94, 213, 183}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 77, 131}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{106, 216, 175}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{208, 75, 116}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{129, 217, 165}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{225, 75, 109}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{129, 221, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255},
+ /*16*/{255,255,255}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{255, 255, 255}, /*12*/{149, 158,159},
+ /*16*/{255,255,255}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{255, 255, 255}, /*12*/{121, 180,156},
+ /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{215, 93, 140}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{113,176,156}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{107, 182,156},
+ /*16*/{255,255,255}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{105,183,155}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{100, 187,150},
+ /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{202, 106, 142}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{100,191,158}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 96, 193,155},
+ /*16*/{255,255,255}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{103,193,170}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 197,170},
+ /*16*/{255,255,255}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{103,200,177}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 201,177},
+ /*16*/{255,255,255}, /*20*/{177, 80, 145}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{ 96,205,182}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 91, 208,176},
+ /*16*/{255,255,255}, /*20*/{177, 87, 130}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
+ /*16*/{255,255,255}, /*20*/{192, 92, 123}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173},
+ /*16*/{255,255,255}, /*20*/{218, 79, 120}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{129,219,151}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{125, 213,157},
+ /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{255, 255, 255}, /*28*/{154, 116,150}
+ },
+ { /* 0*/{140,209,142}, /* 4*/{255, 255, 255}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145},
+ /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{255, 255, 255}, /*28*/{163, 93,168}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{115, 182, 158}, /*12*/{255, 255,255},
+ /*16*/{255,255,255}, /*20*/{212, 97, 142}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{101, 183, 156}, /*12*/{255, 255,255},
+ /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{255, 255, 255}, /*28*/{160, 96,160}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 94, 190, 154}, /*12*/{255, 255,255},
+ /*16*/{255,255,255}, /*20*/{197, 113, 144}, /*24*/{255, 255, 255}, /*28*/{255, 255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 89, 197, 158}, /*12*/{255, 255,255},
+ /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{255, 255, 255}, /*28*/{161, 88,162}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 200, 171}, /*12*/{255, 255,255},
+ /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{255, 255, 255}, /*28*/{166, 86,156}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 205, 175}, /*12*/{255, 255,255},
+ /*16*/{177, 82,133}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 82,143}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 82, 215, 177}, /*12*/{255, 255,255},
+ /*16*/{177, 85,126}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 84,135}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 96, 214, 176}, /*12*/{255, 255,255},
+ /*16*/{191,101,113}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{190, 86,124}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 213, 158}, /*12*/{255, 255,255},
+ /*16*/{213, 83,124}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{202, 88,121}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 217, 154}, /*12*/{255, 255,255},
+ /*16*/{203, 95,110}, /*20*/{255, 255, 255}, /*24*/{165, 109, 152}, /*28*/{191, 101,120}
+ }
+};
+
+unsigned char table_seqTurn_PAUSE_TIME[32][2] = {{ 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 25, 20},{ 21, 30},{ 30, 30},
+ { 30, 30},{ 20, 20},{ 20, 20},{ 20, 30},{ 20, 20},{ 20, 20},{ 30, 30},{ 31, 30},
+ { 20, 20},{ 30, 30},{ 20, 30},{ 30, 30},{ 20, 20},{ 20, 30},{ 30, 30},{ 30, 30}
+};
-unsigned char table_seqTurn[][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 90,196,170}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{205,107,129}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{101,183,165}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{197,113,135}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{118,219,139}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{117,217,137}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}},
- { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 95,124}},
- { /* 0*/{105,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{208, 99,127}},
- { /* 0*/{113,176,165}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{204,103,133}},
- { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115}},
- { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169}},
- { /* 0*/{123,217,215}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},
- /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
- /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 94,196,168},
- /*16*/{203,103,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{107,182,165},
- /*16*/{196,114,128}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
- /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 92,198,168},
- /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145},
- /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142},
- /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{204, 88,116}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{190, 76,160}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{192, 78,156}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{194, 78,161}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}},
- { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255},
- /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}} };
+unsigned char table_seqTurn[31][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 90,196,170}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{205,107,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{101,183,165}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{197,113,135}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{118,219,139}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{117,217,137}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}
+ },
+ { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 95,124}
+ },
+ { /* 0*/{105,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{208, 99,127}
+ },
+ { /* 0*/{113,176,165}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{204,103,133}
+ },
+ { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115}
+ },
+ { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169}
+ },
+ { /* 0*/{123,217,215}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},
+ /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185},
+ /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 94,196,168},
+ /*16*/{203,103,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{107,182,165},
+ /*16*/{196,114,128}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168},
+ /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 92,198,168},
+ /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145},
+ /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142},
+ /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{204, 88,116}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{190, 76,160}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{192, 78,156}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{194, 78,161}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ },
+ { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255},
+ /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
+ }
+};
+unsigned char table_seqRepositionne_PAUSE_TIME[6][2] = {{ 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}};
+unsigned char table_seqRepositionne[6][8][3] = {
+ { /* 0*/{103,206,176}, /* 4*/{102,213,176}, /* 8*/{ 92,211,171}, /*12*/{ 99,211,176},
+ /*16*/{210, 86,121}, /*20*/{213, 85,118}, /*24*/{217, 83,118}, /*28*/{200, 86,124}
+ },
+ { /* 0*/{100,188,184}, /* 4*/{ 98,193,185}, /* 8*/{ 89,193,186}, /*12*/{ 96,193,185},
+ /*16*/{209, 99,115}, /*20*/{212, 99,119}, /*24*/{215, 95,119}, /*28*/{205, 95,124}
+ },
+ { /* 0*/{ 93,182,166}, /* 4*/{ 86,196,161}, /* 8*/{ 75,196,170}, /*12*/{ 88,192,168},
+ /*16*/{206,115,125}, /*20*/{211,114,129}, /*24*/{213,110,129}, /*28*/{206,108,127}
+ },
+ { /* 0*/{ 93,187,203}, /* 4*/{ 88,202,195}, /* 8*/{ 88,207,190}, /*12*/{ 92,198,199},
+ /*16*/{204,110,107}, /*20*/{207,110,100}, /*24*/{204, 88,116}, /*28*/{203,103,115}
+ },
+ { /* 0*/{123,220,139}, /* 4*/{125,225,133}, /* 8*/{118,219,139}, /*12*/{118,206,145},
+ /*16*/{179, 82,167}, /*20*/{189, 76,160}, /*24*/{190, 76,160}, /*28*/{178, 78,169}
+ },
+ { /* 0*/{123,217,135}, /* 4*/{120,222,135}, /* 8*/{113,217,137}, /*12*/{111,213,142},
+ /*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167}
+ }
+};
/*unsigned char table_seqUpDown[9][8][4] = { { {140, 80, 210, 160}, {165, 80, 210, 160}, {160, 80, 210, 160}, {150, 80, 210, 160},
{1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} },
{ {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4},
@@ -178,6 +270,7 @@
{
m_SequenceChosen=0;
m_idFrame=0;
+ m_idLegUse =0;
}
homemadeSequence::~homemadeSequence()
{
@@ -223,6 +316,7 @@
case 7:// 07 - Recule //
break;
case 8:// 07 - Repositioner //
+ seqRepositioner(m_idFrame,idLeg);
break;
case 9:// 09 - Crabe Gauche //
seqCrabe(false,m_idFrame,idLeg);
@@ -240,39 +334,36 @@
{
if((idOperation<10)&&(idOperation>0)) {
switch(idLeg) { //moving hips
- case 1:
+ case 1://#0
m_posLeg[0] = 140;
break;
- case 2:
+ case 2://#4
m_posLeg[0] = 165;
break;
- case 3:
+ case 3://#8
m_posLeg[0] = 160;
break;
- case 6:
+ case 6://#20
m_posLeg[0] = 133;
break;
- case 7:
+ case 7://#24
m_posLeg[0] = 170;
break;
- default:
+ default://#12 #28
m_posLeg[0] = 150;
break;
}
- if(downUP)
- {
+ if(downUP) {
if(idLeg<5)
for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1];
else
for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1];
- }
- else
- {
+ } else {
if(idLeg<5)
for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1];
else
for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1];
- }
+ }
/*if(idOperation == 1) {
if(idLeg<5) {
m_posLeg[1] = 80;
@@ -403,17 +494,132 @@
}
}
void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
-{}
+{
+ if(idOperation<32) {
+ for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqTurn[idOperation-1][idLeg-1][i-1];
+ delaisNeed = (table_seqTurn_PAUSE_TIME[idOperation-1][0])*10;
+ timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1];
+
+ switch(idOperation) {
+
+ case 3:
+ switch(idLeg) { //moving hips
+ case 3://#8
+ m_posLeg[0]= (leftRIGHT)? 180:140;
+ break;
+ case 6://#20
+ m_posLeg[0]= (leftRIGHT)? 150:114;
+ break;
+ }
+ break;
+ case 11:
+ switch(idLeg) { //moving hips
+ case 1://#0
+ m_posLeg[0]= (leftRIGHT)? 150:110;
+ break;
+ case 7://28
+ m_posLeg[0]= (leftRIGHT)? 164:104;
+ break;
+ }
+ break;
+ case 17:
+ switch(idLeg) { //moving hips
+ case 1://#0
+ m_posLeg[0]= 140;
+ break;
+ case 2://4
+ m_posLeg[0]= (leftRIGHT)? 150:176;
+ break;
+ case 3://8
+ m_posLeg[0]= 160;
+ break;
+ case 6://20
+ m_posLeg[0]= 133;
+ break;
+ case 7://24
+ m_posLeg[0]= (leftRIGHT)? 153:183;
+ break;
+ case 8://28
+ m_posLeg[0]= 133;
+ break;
+ }
+ if((idLeg != 4) || (idLeg != 5))
+ timeSequence[idLeg-1] = 30;
+
+ break;
+
+ case 25:
+ if(idLeg == 7)
+ m_posLeg[0] = 170;
+ break;
+
+ case 29:
+ if(idLeg == 2)
+ m_posLeg[0] = 165;
+ break;
+ //case :
+ //break;
+ default:
+ m_posLeg[0]= 255;
+ break;
+ }
+
+
+
+ } else
+ for(int i=0; i <= 3; i++) m_posLeg[i]=0;
+}
void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
{}
void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
-{}
+{
+ if(idOperation<6) {
+ if(m_idLegUse == idLeg) {
+ for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqRepositionne[idOperation-1][idLeg-1][i-1];
+
+ timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1];
+
+ if(idOperation == 5) {
+ switch(idLeg) {
+ case 1:
+ m_posLeg[0] = 137;
+ break;
+ case 2:
+ m_posLeg[0] = 165;
+ break;
+ case 3:
+ m_posLeg[0] = 160;
+ break;
+ case 4:
+ m_posLeg[0] = 150;
+ break;
+ case 5:
+ m_posLeg[0] = 153;
+ break;
+ case 6:
+ m_posLeg[0] = 133;
+ break;
+ case 7:
+ m_posLeg[0] = 170;
+ break;
+ case 8:
+ m_posLeg[0] = 144;
+ break;
+ }
+ }
+
+ } else
+ for(int i=0; i <= 3; i++)m_posLeg[i]=255;
+ delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
+ } else
+ for(int i=0; i <= 3; i++) m_posLeg[i]=0;
+}
void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg)
{
- if(idOperation<33){
- if(leftRIGHT)
- idOperation=33-idOperation;
-
+ if(idOperation<33) {
+ if(leftRIGHT)
+ idOperation=33-idOperation;
+
switch(idLeg) { //moving hips
case 1:
m_posLeg[0] = 140;
@@ -434,16 +640,15 @@
m_posLeg[0] = 150;
break;
}
-
+
for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqCrabe[idOperation-1][idLeg-1][i-1];
-
-
+
+
//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
- }
- else
- for(int i=0; i <= 3; i++) m_posLeg[i]=0;
-
-
+ } else
+ for(int i=0; i <= 3; i++) m_posLeg[i]=0;
+
+
}
bool homemadeSequence::next_frame(void)
{
@@ -451,21 +656,28 @@
bool temp=false;
debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
+
//if(m_idFrame > 1){
m_idFrame++;
unsigned char* tmpTable = get_frame(1);
- if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{
+ if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
temp=true;
- //m_idFrame++;//get_frame(m_idFrame);
- //}
- else
+ //m_idFrame++;//get_frame(m_idFrame);
+ if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
+ delaisNextSeq.reset();
+ delaisNeed=-1;
+ for(int i=0; i<8; i++)timeSequence[i]=0;
+ } else
+ m_idFrame--;
+ } else
m_idFrame--;
//}
//}
debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame");
+
return temp;
}
bool homemadeSequence::prev_frame(void) //true == prev is ok
@@ -475,20 +687,27 @@
bool temp=false;
debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
+
if(m_idFrame > 1) {
m_idFrame--;
unsigned char* tmpTable = get_frame(1);
- if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) //{
+ if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
temp=true;
- //m_idFrame++;//get_frame(m_idFrame);
- //}
- else
+ //m_idFrame++;//get_frame(m_idFrame);
+ if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
+ delaisNextSeq.reset();
+ delaisNeed=-1;
+ for(int i=0; i<8; i++)timeSequence[i]=0;
+ } else
+ m_idFrame++;
+ } else
m_idFrame++;
//}
}
debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame");
+
return temp;
}
\ No newline at end of file