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

Diff: source/Motrice/homemadeSequence.cpp

Revision:
24:c7246270a852
Parent:
23:7b296b6d8285
Child:
25:f3bd72f1dd8d
diff -r 7b296b6d8285 -r c7246270a852 source/Motrice/homemadeSequence.cpp
--- a/source/Motrice/homemadeSequence.cpp	Fri May 08 20:58:21 2015 +0000
+++ b/source/Motrice/homemadeSequence.cpp	Fri May 08 21:33:34 2015 +0000
@@ -248,6 +248,13 @@
         /*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167}
     }
 };
+unsigned char table_seqFoward_PAUSE_TIME[41][2] ={
+    { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 61, 50},
+    { 21, 20},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},
+    { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 50},{ 21, 20},{ 41, 45},
+    { 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50},
+    { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50},
+    { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}};
 unsigned char table_seqFoward[41][8][3] ={
     {   /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
         /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255}
@@ -373,6 +380,11 @@
         /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
     }
 };
+unsigned char table_seqBackward_PAUSE_TIME[33][2] ={
+    { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 31, 30},{ 61, 50},
+    { 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},
+    { 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 45},{ 21, 20},{ 41, 45},{ 21, 20},
+    { 21, 20},{ 31, 30},{ 31, 50}};
 unsigned char table_seqBackward[33][8][3] = {
     {   /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
         /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124}