Diff: source/mouvement.h

Revision:

0:e4151abdff23

diff -r 000000000000 -r e4151abdff23 source/mouvement.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/mouvement.h	Tue Mar 10 12:49:59 2015 +0000
@@ -0,0 +1,118 @@
+/*
+ * mouvement.h
+ *
+ *  Created on: Mar 02, 2015
+ *      Author: salco
+ */
+
+/*
+ * Theraphosa Salconi
+ *
+ * Jambes[coxa/fermur/tibia/tars]+numeroMoteur:
+ *
+ * Arr-D: [0,1,2,3]
+ * Arr-G: [16,17,18,19]
+ * Arr-Mil-D: [4,5,6,7]
+ * Arr-Mil-G: [20,21,22,23]
+ * Avv-Mil-D: [8,9,10,11]
+ * Avv-Mil-G: [24,25,26,27]
+ * Avv-D: [12,13,14,15]
+ * Avv-G: [28,29,30,31]
+ *
+ */
+#ifndef MOUVEMENT_H_
+#define MOUVEMENT_H_
+
+#define DELAITESTE 1000
+#define DEBUG
+
+#include "mbed.h"
+//#include <string>
+//#include <stdio.h>
+#include "Patte.h"
+#include "homemadeSequence.h"
+
+
+class Faculter_motrice
+{
+    Serial* m_com;
+    homemadeSequence* m_seq;
+
+    Patte *m_arr_D;
+    char m_SequenceID_arr_D;
+    Patte *m_arr_mil_D;
+    char m_SequenceID_arr_mil_D;
+    Patte *m_arr_G;
+    char m_SequenceID_arr_G;
+    Patte *m_arr_mil_G;
+    char m_SequenceID_arr_mil_G;
+    Patte *m_avv_D;
+    char m_SequenceID_avv_D;
+    Patte *m_avv_mil_D;
+    char m_SequenceID_avv_mil_D;
+    Patte *m_avv_G;
+    char m_SequenceID_avv_G;
+    Patte *m_avv_mil_G;
+    char m_SequenceID_avv_mil_G;
+
+// Flag //
+    bool m_ForceStop; // use when you want pause the motion
+    bool m_CriticalStop; // use to turn off all legs
+    bool m_SeqChange;
+
+//  //
+// char m_SequenceChosen;
+// A enlever au plus vite car sa prend beaucoup d'espace //
+
+
+public:
+#ifdef DEBUG
+    char get_idSeq(void){return m_seq->get_Sequence();}
+#endif
+    Faculter_motrice(Serial* com);
+    virtual ~Faculter_motrice();
+
+    void exec(void);
+    void stop(void) {
+        m_ForceStop= true;
+    }
+    void resume(void) {
+        m_ForceStop=false;
+        m_CriticalStop=false;
+    }
+    void crit_stop(void);
+    
+    void moveLeft (void) {
+        m_seq->set_Sequence(9);
+    }
+    void moveRight(void){
+        m_seq->set_Sequence(10);
+    }
+    void moveUp   (void){
+        m_seq->set_Sequence(2);
+    }
+    void moveDown (void){
+        m_seq->set_Sequence(3);
+    }
+    void moveFront(void){
+        m_seq->set_Sequence(6);
+    }
+    void moveBack (void){
+        m_seq->set_Sequence(7);
+    }
+    void turnLeft (void){
+        m_seq->set_Sequence(4);
+    }
+    void trunRight(void){
+        m_seq->set_Sequence(5);
+    }
+    void calibre  (void){
+        m_seq->set_Sequence(1);
+    }
+    //void repositioner(char idLeg);
+
+
+
+};
+
+#endif /* MOUVEMENT_H_ */
\ No newline at end of file