Alexandre Salconi-Denis
/
ProjetOctopode
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Revision 20:c825e7b07af7, committed 2015-04-28
- Comitter:
- salco
- Date:
- Tue Apr 28 01:57:07 2015 +0000
- Parent:
- 19:0ac80045ba4c
- Child:
- 21:5c17b7836733
- Commit message:
- walkingcrab is add but we need to compleet the fonction;
Changed in this revision
--- a/source/Motrice/homemadeSequence.cpp Mon Apr 27 20:41:21 2015 +0000
+++ b/source/Motrice/homemadeSequence.cpp Tue Apr 28 01:57:07 2015 +0000
@@ -23,7 +23,74 @@
{ {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**
+ { {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*/{ 0, 0, 0}, /* 4*/{125, 184, 156}, /* 8*/{132, 215, 147}, /*12*/{ 0, 0, 0},
+ /*16*/{203,101,128}, /*20*/{ 0, 0, 0}, /*24*/{176, 87, 163}, /*28*/{191, 103,133} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{111, 185, 156}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{209, 99,140}, /*20*/{ 0, 0, 0}, /*24*/{ 0, 0, 0}, /*28*/{196, 105,142} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{103, 192, 155}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{203,108,137}, /*20*/{ 0, 0, 0}, /*24*/{170, 88, 159}, /*28*/{191, 112,141} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 98, 199, 158}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{196,114,137}, /*20*/{ 0, 0, 0}, /*24*/{ 0, 0, 0}, /*28*/{184, 118,142} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{182,115,144}, /*20*/{ 0, 0, 0}, /*24*/{169, 83, 164}, /*28*/{172, 118,142} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{102, 201, 170}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{152,137,139}, /*20*/{ 0, 0, 0}, /*24*/{169, 78, 155}, /*28*/{146, 137,142} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{102, 207, 179}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{ 0, 0, 0}, /*20*/{ 0, 0, 0}, /*24*/{181, 76, 137}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 94, 213, 183}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{ 0, 0, 0}, /*20*/{ 0, 0, 0}, /*24*/{181, 77, 131}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{106, 216, 175}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{ 0, 0, 0}, /*20*/{ 0, 0, 0}, /*24*/{208, 75, 116}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{129, 217, 165}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{ 0, 0, 0}, /*20*/{ 0, 0, 0}, /*24*/{225, 75, 109}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{129, 221, 156}, /* 8*/{ 0, 0, 0}, /*12*/{ 0, 0, 0},
+ /*16*/{ 0, 0, 0}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{ 0, 0, 0}, /*12*/{149, 158,159},
+ /*16*/{ 0, 0, 0}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{ 0, 0, 0}, /*12*/{121, 180,156},
+ /*16*/{ 0, 0, 0}, /*20*/{ 0, 0, 0}, /*24*/{215, 93, 140}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{113,176,156}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{107, 182,156},
+ /*16*/{ 0, 0, 0}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{105,183,155}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{100, 187,150},
+ /*16*/{ 0, 0, 0}, /*20*/{ 0, 0, 0}, /*24*/{202, 106, 142}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{100,191,158}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{ 96, 193,155},
+ /*16*/{ 0, 0, 0}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{103,193,170}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{ 99, 197,170},
+ /*16*/{ 0, 0, 0}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{103,200,177}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{ 99, 201,177},
+ /*16*/{ 0, 0, 0}, /*20*/{177, 80, 145}, /*24*/{ 0, 0, 0}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{ 96,205,182}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{ 91, 208,176},
+ /*16*/{ 0, 0, 0}, /*20*/{177, 87, 130}, /*24*/{ 0, 0, 0}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{108,216,171}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{102, 210,173},
+ /*16*/{ 0, 0, 0}, /*20*/{192, 92, 123}, /*24*/{ 0, 0, 0}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{108,216,171}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{102, 210,173},
+ /*16*/{ 0, 0, 0}, /*20*/{218, 79, 120}, /*24*/{ 0, 0, 0}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{129,219,151}, /* 4*/{ 0, 0, 0}, /* 8*/{ 0, 0, 0}, /*12*/{125, 213,157},
+ /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{ 0, 0, 0}, /*28*/{154, 116,150} },
+ { /* 0*/{140,209,142}, /* 4*/{ 0, 0, 0}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145},
+ /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{ 0, 0, 0}, /*28*/{163, 93,168} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{115, 182, 158}, /*12*/{ 0, 0, 0},
+ /*16*/{ 0, 0, 0}, /*20*/{212, 97, 142}, /*24*/{ 0, 0, 0}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{101, 183, 156}, /*12*/{ 0, 0, 0},
+ /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{ 0, 0, 0}, /*28*/{160, 96,160} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{ 94, 190, 154}, /*12*/{ 0, 0, 0},
+ /*16*/{ 0, 0, 0}, /*20*/{197, 113, 144}, /*24*/{ 0, 0, 0}, /*28*/{ 0, 0, 0} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{ 89, 197, 158}, /*12*/{ 0, 0, 0},
+ /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{ 0, 0, 0}, /*28*/{161, 88,162} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{ 92, 200, 171}, /*12*/{ 0, 0, 0},
+ /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{ 0, 0, 0}, /*28*/{166, 86,156} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{ 92, 205, 175}, /*12*/{ 0, 0, 0},
+ /*16*/{177, 82,133}, /*20*/{ 0, 0, 0}, /*24*/{ 0, 0, 0}, /*28*/{169, 82,143} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{ 82, 215, 177}, /*12*/{ 0, 0, 0},
+ /*16*/{177, 85,126}, /*20*/{ 0, 0, 0}, /*24*/{ 0, 0, 0}, /*28*/{169, 84,135} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{ 96, 214, 176}, /*12*/{ 0, 0, 0},
+ /*16*/{191,101,113}, /*20*/{ 0, 0, 0}, /*24*/{ 0, 0, 0}, /*28*/{190, 86,124} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{120, 213, 158}, /*12*/{ 0, 0, 0},
+ /*16*/{213, 83,124}, /*20*/{ 0, 0, 0}, /*24*/{ 0, 0, 0}, /*28*/{202, 88,121} },
+ { /* 0*/{ 0, 0, 0}, /* 4*/{ 0, 0, 0}, /* 8*/{120, 217, 154}, /*12*/{ 0, 0, 0},
+ /*16*/{203, 95,110}, /*20*/{ 0, 0, 0}, /*24*/{165, 109, 152}, /*28*/{191, 101,120} }};
/*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},
--- a/source/Motrice/homemadeSequence.h Mon Apr 27 20:41:21 2015 +0000
+++ b/source/Motrice/homemadeSequence.h Tue Apr 28 01:57:07 2015 +0000
@@ -28,6 +28,7 @@
// 08 - Repositioner //
// 09 - Crabe Gauche //
// 10 - Crabe Droite //
+ // 11 - recalibration legs //
//////////////////////////////
char m_SequenceChosen;
char m_idFrame;
@@ -53,6 +54,7 @@
}
unsigned char* get_frame(/*char idSequence,*/char idOperation,char idLeg);
unsigned char* get_frame(/*char idSequence,char idOperation,*/char idLeg);
+ void set_frameID(char position) {m_idFrame = position;};
bool next_frame(void); //return true if you are not at the end
bool prev_frame(void); //return true if you are not at the begining
};
--- a/source/Motrice/mouvement.cpp Mon Apr 27 20:41:21 2015 +0000
+++ b/source/Motrice/mouvement.cpp Tue Apr 28 01:57:07 2015 +0000
@@ -65,11 +65,33 @@
- switch(m_seq->get_Sequence()) {
- default:
+ //switch(m_seq->get_Sequence()) {
+ // default:
tempLeg=m_seq->get_frame(m_arr_D->id());
m_arr_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
- //...//
+
+ tempLeg=m_seq->get_frame(m_arr_G->id());
+ m_arr_G->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
+
+ tempLeg=m_seq->get_frame(m_arr_mil_D->id());
+ m_arr_mil_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
+
+ tempLeg=m_seq->get_frame(m_arr_mil_G->id());
+ m_arr_mil_G->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
+
+ tempLeg=m_seq->get_frame(m_avv_mil_D->id());
+ m_avv_mil_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
+
+ tempLeg=m_seq->get_frame(m_avv_mil_G->id());
+ m_avv_mil_G->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
+
+ tempLeg=m_seq->get_frame(m_avv_D->id());
+ m_avv_D->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
+
+ tempLeg=m_seq->get_frame(m_avv_G->id());
+ m_avv_G->move(tempLeg[0],tempLeg[1],tempLeg[2],tempLeg[3]);
+
+ // //...//
if(m_seq->next_frame() == false) {
m_ForceStop=true;
@@ -79,13 +101,13 @@
else
debug(DEBUG_EXEC," Flag next possible \n\r",m_ForceStop,m_seq->get_Sequence());
- break;
- }
+ // break;
+ //}
//char buffer[50];
//scanf(buffer,"%s T%d\n\r",m_arr_D->toString(),DELAITESTE);
//m_com->printf("%s T%d\n\r",m_arr_D->toString(),DELAITESTE); //move to sendSequence()
- debug(DEBUG_MOUVEMENT,"\n\r %s T%d\n\r",m_arr_D->toString(),DELAITESTE);
+ //debug(DEBUG_MOUVEMENT,"\n\r %s T%d\n\r",m_arr_D->toString(),DELAITESTE);
sendSequence();
/*
tempLeg=m_seq->get_frame(m_arr_D->id());
--- a/source/Motrice/mouvement.h Mon Apr 27 20:41:21 2015 +0000
+++ b/source/Motrice/mouvement.h Tue Apr 28 01:57:07 2015 +0000
@@ -74,7 +74,8 @@
#endif
Faculter_motrice(Serial* com);
virtual ~Faculter_motrice();
-
+
+
void exec(void);
void stop(void) {
m_ForceStop= true;