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:
- 25:f3bd72f1dd8d
- Parent:
- 24:c7246270a852
- Child:
- 26:15cb45d56c28
diff -r c7246270a852 -r f3bd72f1dd8d source/Motrice/homemadeSequence.cpp
--- a/source/Motrice/homemadeSequence.cpp Fri May 08 21:33:34 2015 +0000
+++ b/source/Motrice/homemadeSequence.cpp Fri May 08 22:01:07 2015 +0000
@@ -248,14 +248,15 @@
/*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167}
}
};
-unsigned char table_seqFoward_PAUSE_TIME[41][2] ={
+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] ={
+ { 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}
},
@@ -380,11 +381,12 @@
/*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255}
}
};
-unsigned char table_seqBackward_PAUSE_TIME[33][2] ={
+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}};
+ { 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}
@@ -546,12 +548,16 @@
seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg);
break;
case 4:// 04 - Tourne Gauche //
+ seqTurn(false,m_idFrame,idLeg);
break;
case 5:// 05 - Tourne Droite //
+ seqTurn(true,m_idFrame,idLeg);
break;
case 6:// 06 - Marche //
+ seqWalk(true,m_idFrame,idLeg);
break;
case 7:// 07 - Recule //
+ seqWalk(false,m_idFrame,idLeg);
break;
case 8:// 07 - Repositioner //
seqRepositioner(m_idFrame,idLeg);
@@ -808,7 +814,28 @@
for(int i=0; i <= 3; i++) m_posLeg[i]=0;
}
void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg)
-{}
+{
+ if(backFRONT) {
+ if(idOperation<41) {
+ 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
+ } else
+ for(int i=0; i <= 3; i++) m_posLeg[i]=0;
+
+ } else {
+ if(idOperation<33) {
+ 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
+ } else
+ for(int i=0; i <= 3; i++) m_posLeg[i]=0;
+ }
+}
void homemadeSequence::seqRepositioner(char idOperation,char idLeg)
{
if(idOperation<6) {