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:
- 27:ea60d12dccdf
- Parent:
- 26:15cb45d56c28
- Child:
- 36:474d4795aafa
diff -r 15cb45d56c28 -r ea60d12dccdf source/Motrice/homemadeSequence.cpp
--- a/source/Motrice/homemadeSequence.cpp Mon May 11 13:48:38 2015 +0000
+++ b/source/Motrice/homemadeSequence.cpp Thu May 14 21:40:23 2015 +0000
@@ -5,7 +5,19 @@
* Author: salco
*/
#include "homemadeSequence.h"
-unsigned char table_seqUp[9][2][3] = { { {80 , 210, 160}, {220, 90 , 114} },
+
+
+unsigned char table_seqDefaultPos[8][4] = {
+ {137,123,217,135},
+ {165,120,222,135},
+ {160,117,217,137},
+ {150,111,213,142},
+ {153,181, 83,166},
+ {133,187, 78,161},
+ {170,192, 78,156},
+ {144,181, 81,165}};
+#define SIZE_SEQUP 9
+unsigned char table_seqUp[SIZE_SEQUP][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} },
@@ -16,7 +28,7 @@
{ {194, 166, 118}, {106, 134, 182} }
};
-unsigned char table_seqDown[9][2][3] = { { {172, 185, 124}, {128, 115, 176} },
+unsigned char table_seqDown[SIZE_SEQUP][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} },
@@ -27,7 +39,8 @@
{ {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},
+#define SIZE_SEQCRABE 33
+unsigned char table_seqCrabe[SIZE_SEQCRABE][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},
@@ -127,13 +140,16 @@
/*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}
+#define SIZE_SEQTURN 31
+unsigned char table_seqTurn_PAUSE_TIME[SIZE_SEQTURN][2] = {
+ { 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 20, 20},{ 30, 30},{ 30, 30},{ 30, 30},
+ { 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},{ 0, 30}
};
-unsigned char table_seqTurn[31][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},
+unsigned char table_seqTurn[SIZE_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},
@@ -172,10 +188,10 @@
{ /* 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},
+ { /* 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},
+ { /* 0*/{123,217,135}, /* 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},
@@ -227,8 +243,10 @@
/*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] = {
+
+#define SIZE_SEQREPOSITIONNE 6
+unsigned char table_seqRepositionne_PAUSE_TIME[SIZE_SEQREPOSITIONNE][2] = {{ 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}};
+unsigned char table_seqRepositionne[SIZE_SEQREPOSITIONNE][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}
},
@@ -248,15 +266,16 @@
/*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167}
}
};
-unsigned char table_seqFoward_PAUSE_TIME[42][2] = {
+#define SIZE_SEQFOWARD 43
+unsigned char table_seqFoward_PAUSE_TIME[SIZE_SEQFOWARD][2] = {
{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 0, 45},{ 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},
+ { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 50},{ 0, 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[42][8][3] = {
+unsigned char table_seqFoward[SIZE_SEQFOWARD][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}
},
@@ -335,6 +354,9 @@
{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{145,158,173},
/*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*/{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*/{111,213,142},//attention plusieur temps
/*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255}
},
@@ -384,13 +406,15 @@
/*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},
+
+#define SIZE_SEQBACKWARD 35
+unsigned char table_seqBackward_PAUSE_TIME[SIZE_SEQBACKWARD][2] = {
+ { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 31, 30},{ 0, 45},{ 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},
+ { 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 45},{ 0, 50},{ 21, 20},{ 41, 45},{ 21, 20},
{ 21, 20},{ 31, 30},{ 31, 50}
};
-unsigned char table_seqBackward[33][8][3] = {
+unsigned char table_seqBackward[SIZE_SEQBACKWARD][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}
},
@@ -422,6 +446,9 @@
/*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130}
},
{ /* 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*/{255,255,255},
/*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127}
},
{ /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255},
@@ -472,6 +499,9 @@
{ /* 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*/{180, 86,156}, /*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*/{255,255,255}, /*28*/{255,255,255}
+ },
{ /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps
/*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255}
},
@@ -514,11 +544,49 @@
m_SequenceChosen=0;
m_idFrame=0;
m_idLegUse =0;
+ delaisNeed =-1;
+ for(int i=0; i<8; i++)timeSequence[i]=255;
}
homemadeSequence::~homemadeSequence()
{
}
+int homemadeSequence::patchDelais(char idMode)
+{
+ int result=-1;
+ switch(idMode) {
+ /*case 1:
+ break;
+ case 2:
+ break;
+ case 3:
+ break;*/
+ case 4:
+ result = (table_seqTurn_PAUSE_TIME[0][0])*10;
+ break;
+ /*case 5:
+ break;*/
+ case 6:
+ result = (table_seqFoward_PAUSE_TIME[0][0])*10;
+ break;
+ case 7:
+ result = (table_seqBackward_PAUSE_TIME[0][0])*10;
+ break;
+ case 8:
+ result = (table_seqRepositionne_PAUSE_TIME[0][0])*10;
+ break;
+ /*case 9:
+ break;
+ case 10:
+ break;
+ case 11:
+ break;*/
+ default:
+ result = -1;
+ break;
+ }
+ return result;
+}
unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg)
{
debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame");
@@ -551,9 +619,13 @@
seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg);
break;
case 4:// 04 - Tourne Gauche //
+ //delaisNeed = (table_seqTurn_PAUSE_TIME[m_idFrame-1][0])*10;
+ //debug("\n\r asd:%i",delaisNeed);
seqTurn(false,m_idFrame,idLeg);
break;
case 5:// 05 - Tourne Droite //
+ //delaisNeed = (table_seqTurn_PAUSE_TIME[m_idFrame-1][0])*10;
+ //debug("\n\r seqt:%i",delaisNeed);
seqTurn(true,m_idFrame,idLeg);
break;
case 6:// 06 - Marche //
@@ -571,14 +643,22 @@
case 10:// 10 - Crabe Droite //
seqCrabe(true,m_idFrame,idLeg);
break;
+ case 11:// 11 - Position naturel //
+ defaultPosition(idLeg);
+ break;
}
+ debug(DEBUG_HOMEMADE_GETFRAME,"\n\r delaisNeed: %i",delaisNeed);
+ debug(DEBUG_HOMEMADE_GETFRAME,"\n\r timeSequence: ");
+ for(int i=0; i<8; i++)debug(DEBUG_HOMEMADE_GETFRAME," [ %i ] ",timeSequence[i]);
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]);
+ //debug("\n\r seqturn:%i",delaisNeed);
debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame");
return m_posLeg;
}
void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg)
{
+ delaisNeed = DELAITESTE;//(table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
if((idOperation<10)&&(idOperation>0)) {
switch(idLeg) { //moving hips
case 1://#0
@@ -742,9 +822,11 @@
}
void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg)
{
- if(idOperation<32) {
+ if(idOperation<=SIZE_SEQTURN) {
+ m_posLeg[0]= 255;
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;
+ //debug("\n\r seqturn:%i",delaisNeed);
timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1];
switch(idOperation) {
@@ -764,7 +846,7 @@
case 1://#0
m_posLeg[0]= (leftRIGHT)? 150:110;
break;
- case 7://28
+ case 8://28
m_posLeg[0]= (leftRIGHT)? 164:104;
break;
}
@@ -806,9 +888,9 @@
break;
//case :
//break;
- default:
- m_posLeg[0]= 255;
- break;
+ //default:
+ //m_posLeg[0]= 255;
+ // break;
}
@@ -819,100 +901,251 @@
void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
{
if(backFRONT) {
- if(idOperation<41) {
+ if(idOperation <= SIZE_SEQFOWARD) {
+ m_posLeg[0]= 255;
for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqFoward[idOperation-1][idLeg-1][i-1];
delaisNeed = (table_seqFoward_PAUSE_TIME[idOperation-1][0])*10;
timeSequence[idLeg-1] = table_seqFoward_PAUSE_TIME[idOperation-1][1];
//manque qqch ici
- switch(idOperation)
- {
+ switch(idOperation) {
case 3:
- if(idLeg == 1) m_posLeg[0] = 150;
- else if(idLeg == 6) m_posLeg[0] = 123;
- break;
-
+ if(idLeg == 1) m_posLeg[0] = 150;
+ else if(idLeg == 6) m_posLeg[0] = 123;
+ break;
+
case 5:
- if((idLeg ==1) || (idLeg==6))
- timeSequence[idLeg-1] = 30;
- break;
-
+ if((idLeg ==1) || (idLeg==6))
+ timeSequence[idLeg-1] = 30;
+ break;
+
case 7:
- if(idLeg == 3)m_posLeg[0] = 187;
- else if(idLeg == 8) m_posLeg[0] = 123;
- break;
-
+ if(idLeg == 3)m_posLeg[0] = 187;
+ else if(idLeg == 8) m_posLeg[0] = 123;
+ break;
+
case 11:
- switch(idLeg)
- {
- case 1:
- m_posLeg[0] = 130;
+ switch(idLeg) {
+ case 1:
+ m_posLeg[0] = 130;
+ break;
+ case 2:
+ m_posLeg[0] = 140;
+ break;
+ case 3:
+ m_posLeg[0] = 160;
+ break;
+ case 4:
+ m_posLeg[0] = 117;
+ break;
+ case 5:
+ m_posLeg[0] = 179;
+ break;
+ case 6:
+ m_posLeg[0] = 134;
+ break;
+ case 7:
+ m_posLeg[0] = 183;
+ break;
+ case 8:
+ m_posLeg[0] = 144;
+ break;
+ }
break;
- case 2:
- m_posLeg[0] = 140;
- break;
- case 3:
- m_posLeg[0] = 160;
- break;
- case 4:
- m_posLeg[0] = 117;
+
+ case 16:
+ if(idLeg == 1) m_posLeg[0] = 137;
break;
- case 5:
- m_posLeg[0] = 179;
- break;
- case 6:
- m_posLeg[0] = 134;
+
+ case 20:
+ if(idLeg == 2) m_posLeg[0] = 176;
+ else if(idLeg == 7) m_posLeg[0] = 160;
break;
- case 7:
- m_posLeg[0] = 183;
+
+ case 22:
+ if((idLeg ==2) || (idLeg==7))
+ timeSequence[idLeg-1] = 30;
break;
- case 8:
- m_posLeg[0] = 144;
+
+ case 24:
+ if(idLeg == 4) m_posLeg[0] = 174;
+ else if(idLeg == 5) m_posLeg[0] = 133;
break;
- }
- break;
-
- case 16:
- if(idLeg == 1) m_posLeg[0] = 137;
- break;
-
- case 20:
- if(idLeg == 5) m_posLeg[0] = 176;
- else if(idLeg == 7) m_posLeg[0] = 160;
- break;
-
- case 22:
- if((idLeg ==2) || (idLeg==7))
- timeSequence[idLeg-1] = 30;
- break;
-
- case 24:
- if(idLeg == 4) m_posLeg[0] = 177;
- else if(idLeg == 5) m_posLeg[0] = 133;
- break;
-
+
+ case 27:
+ switch(idLeg) {
+ case 1:
+ m_posLeg[0] = 110;
+ break;
+ case 2:
+ m_posLeg[0] = 160;
+ break;
+ case 3:
+ m_posLeg[0] = 140;
+ break;
+ case 4:
+ m_posLeg[0] = 150;
+ break;
+ case 5:
+ m_posLeg[0] = 153;
+ break;
+ case 6:
+ m_posLeg[0] = 150;
+ break;
+ case 7:
+ m_posLeg[0] = 173;
+ break;
+ case 8:
+ m_posLeg[0] = 170;
+ break;
+ }
+ break;
+
+ case 34:
+ if(idLeg == 1) m_posLeg[0] = 130;
+ break;
+
+ case 38:
+ if(idLeg == 5) m_posLeg[0] = 153;//165;
+ break;
+
+ case 42:
+ if(idLeg == 2) m_posLeg[0] = 165;
+ break;
}
} else
for(int i=0; i <= 3; i++) m_posLeg[i]=0;
} else {
- if(idOperation<33) {
+ if(idOperation <= SIZE_SEQBACKWARD) {
+ m_posLeg[0]= 255;
for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqBackward[idOperation-1][idLeg-1][i-1];
delaisNeed = (table_seqBackward_PAUSE_TIME[idOperation-1][0])*10;
timeSequence[idLeg-1] = table_seqBackward_PAUSE_TIME[idOperation-1][1];
//manque qqch ici
+ switch(idOperation) {
+ case 3:
+ if(idLeg == 3) m_posLeg[0] = 140;
+ else if(idLeg == 8) m_posLeg[0] = 170;
+ break;
+
+ case 5:
+ if((idLeg ==3) || (idLeg==8))
+ timeSequence[idLeg-1] = 30;
+ break;
+
+ case 7:
+ if(idLeg == 1)m_posLeg[0] = 110;
+ else if(idLeg == 6) m_posLeg[0] = 150;
+ break;
+
+ case 11:
+ switch(idLeg) {
+ case 1:
+ m_posLeg[0] = 130;
+ break;
+ case 2:
+ m_posLeg[0] = 176;
+ break;
+ case 3:
+ m_posLeg[0] = 160;
+ break;
+ case 4:
+ m_posLeg[0] = 174;
+ break;
+ case 5:
+ m_posLeg[0] = 133;
+ break;
+ case 6:
+ m_posLeg[0] = 134;
+ break;
+ case 7:
+ m_posLeg[0] = 160;
+ break;
+ case 8:
+ m_posLeg[0] = 144;
+ break;
+ }
+ break;
+
+ case 13:
+ if(idLeg == 8) m_posLeg[0] = 144;
+ break;
+
+ case 17:
+ if(idLeg == 6) m_posLeg[0] = 133;
+ break;
+
+ case 22:
+ if(idLeg == 4) m_posLeg[0] = 117;
+ else if(idLeg == 5) m_posLeg[0] = 179;
+ break;
+
+ case 24:
+ if((idLeg ==4) || (idLeg==5))
+ timeSequence[idLeg-1] = 45;
+ break;
+
+ case 26:
+ if(idLeg == 2) m_posLeg[0] = 140;
+ else if(idLeg == 7) m_posLeg[0] = 190;
+ break;
+
+ case 29:
+ switch(idLeg) {
+ case 1:
+ m_posLeg[0] = 150;
+ break;
+ case 2:
+ m_posLeg[0] = 160;
+ break;
+ case 3:
+ m_posLeg[0] = 187;
+ break;
+ case 4:
+ m_posLeg[0] = 150;
+ break;
+ case 5:
+ m_posLeg[0] = 153;
+ break;
+ case 6:
+ m_posLeg[0] = 123;
+ break;
+ case 7:
+ m_posLeg[0] = 173;
+ break;
+ case 8:
+ m_posLeg[0] = 123;
+ break;
+ }
+ break;
+
+ case 33:
+ if(idLeg == 4) m_posLeg[0] = 150;
+ break;
+
+ /*case 38:
+ if(idLeg == 5) m_posLeg[0] = 165;
+ break;
+
+ case 42:
+ if(idLeg == 1) m_posLeg[0] = 165;
+ break;*/
+ }
} else
for(int i=0; i <= 3; i++) m_posLeg[i]=0;
}
}
void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
{
- if(idOperation<6) {
+ if(idOperation <= SIZE_SEQREPOSITIONNE) {
+ m_posLeg[0]= 255;
+ delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
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];
+ timeSequence[idLeg-1] = table_seqRepositionne_PAUSE_TIME[idOperation-1][1];
if(idOperation == 5) {
switch(idLeg) {
@@ -944,16 +1177,19 @@
}
} else
- for(int i=0; i <= 3; i++)m_posLeg[i]=255;
- delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
+ for(int i=0; i < 4; i++)m_posLeg[i]=255;
+
} else
- for(int i=0; i <= 3; i++) m_posLeg[i]=0;
+ for(int i=0; i < 4; i++) m_posLeg[i]=0;
}
void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg)
{
- if(idOperation<33) {
+ if(idOperation<=SIZE_SEQCRABE) {
+ m_posLeg[0]= 255;
+ delaisNeed = 300;//DELAITESTE;//(table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10;
+ timeSequence[idLeg-1] = 30;
if(leftRIGHT)
- idOperation=33-idOperation;
+ idOperation=SIZE_SEQCRABE-idOperation;
switch(idLeg) { //moving hips
case 1:
@@ -985,41 +1221,55 @@
}
+void homemadeSequence::defaultPosition(char idLeg)
+{
+ if(m_idFrame == 1) {
+ timeSequence[idLeg-1] = 50;
+ for(int i=0;i<4;i++) m_posLeg[i]=table_seqDefaultPos[idLeg-1][i];
+ }
+ else
+ for(int i=0;i<4;i++) m_posLeg[i]= 0;
+}
bool homemadeSequence::next_frame(void)
{
debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame");
- bool temp=false;
+ bool result=false;
debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
-
+ int tmpDelais=delaisNeed;
//if(m_idFrame > 1){
m_idFrame++;
unsigned char* tmpTable = get_frame(1);
+ debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r Leg1:");
+ for(int i=0; i<4; i++)debug(DEBUG_HOMEMADE_NEXTFRAME,"[%i]",tmpTable[i]);
+
if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
- temp=true;
+ result=true;
//m_idFrame++;//get_frame(m_idFrame);
- if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
+ /*if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
delaisNextSeq.reset();
- delaisNeed=-1;
- for(int i=0; i<8; i++)timeSequence[i]=0;
- } else
- m_idFrame--;
+ delaisNeed=-1;*/
+ for(int i=0; i<8; i++)timeSequence[i]=255;
+ //} else
+ // m_idFrame--;
} else
m_idFrame--;
//}
//}
+ delaisNeed=tmpDelais;
+
debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame);
debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame");
- return temp;
+ return result;
}
bool homemadeSequence::prev_frame(void) //true == prev is ok
{
//false == impossible
debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame");
- bool temp=false;
+ bool result=false;
debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
@@ -1028,14 +1278,14 @@
unsigned char* tmpTable = get_frame(1);
if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) {
- temp=true;
+ result=true;
//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++;
+ /*if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) {
+ delaisNextSeq.reset();*/
+ delaisNeed=-1;
+ for(int i=0; i<8; i++)timeSequence[i]=255;
+ //} else
+ // m_idFrame++;
} else
m_idFrame++;
@@ -1044,5 +1294,5 @@
debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame);
debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame");
- return temp;
+ return result;
}
\ No newline at end of file