Patte.h

00001 /**
00002  * Patte.h
00003  *
00004  *  Created on: Mar 03, 2015
00005  *      Author: salco
00006  */
00007 #ifndef PATTE_H_
00008 #define PATTE_H_
00009 
00010 #define NBR_SERVO 32
00011 #define DEFAULTPOSITION 150
00012 #define DEFAULTMAX 225
00013 #define DEFAULTMIN 75
00014 
00015 //#include <string>
00016 #include <stdio.h>
00017 //#include "debug.h"
00018 
00019 struct servo_t {
00020     char iD; //use for ssc-32
00021     // all value down is a pulse value between 750-2250 //
00022     unsigned char basePose;
00023     unsigned char max;
00024     unsigned char min;
00025     // mabey change curr for a integer to get more precision and less space //
00026     unsigned char curr;
00027 };
00028 
00029 class Patte
00030 {
00031     // number related to the SSC-32 //
00032     /*char m_numServo_Coxa;
00033     char m_numServo_Femur;
00034     char m_numServo_Tibia;
00035     char m_numServo_Tars;*/
00036     char m_id;
00037     servo_t m_Coxa;
00038     servo_t m_Femur;
00039     servo_t m_Tibia;
00040     servo_t m_Tars;
00041     char buffer [50];
00042     bool valuesChange;
00043     bool valuesCoxaChange;
00044     bool valuesFemurChange;
00045     bool valuesTibiaChange;
00046     bool valuesTarsChange;
00047 
00048 public:
00049     Patte(char patteId,char coxaId,char femurId,char tibiaId,char tarsId) {
00050         m_id = patteId;
00051         valuesChange = false;
00052 
00053         m_Coxa.iD  = coxaId;
00054         m_Coxa.max = DEFAULTMAX;
00055         m_Coxa.min = DEFAULTMIN;
00056         m_Coxa.curr= DEFAULTPOSITION;
00057         valuesCoxaChange = false;
00058 
00059         m_Femur.iD  = femurId;
00060         m_Femur.max = DEFAULTMAX;
00061         m_Femur.min = DEFAULTMIN;
00062         m_Femur.curr= DEFAULTPOSITION;
00063         valuesFemurChange = false;
00064 
00065         m_Tibia.iD  = tibiaId;
00066         m_Tibia.max = DEFAULTMAX;
00067         m_Tibia.min = DEFAULTMIN;
00068         m_Tibia.curr= DEFAULTPOSITION;
00069         valuesTibiaChange = false;
00070 
00071         m_Tars.iD  = tarsId;
00072         m_Tars.max = DEFAULTMAX;
00073         m_Tars.min = DEFAULTMIN;
00074         m_Tars.curr= DEFAULTPOSITION;
00075         valuesTarsChange = false;
00076     }
00077     virtual ~Patte() {}
00078     char id(void) {
00079         return m_id;
00080     }
00081     const char* toString(void) {
00082         char buffer1[50]= {""};
00083         char buffer2[50]= {""};
00084         char buffer3[50]= {""};
00085         char buffer4[50]= {""};
00086         for(int i=0;i<50;i++)buffer[i]=0;
00087         
00088         if(valuesCoxaChange)
00089             sprintf (buffer1,"#%d P%d0 ",m_Coxa.iD,m_Coxa.curr);
00090         if(valuesFemurChange)
00091             sprintf (buffer2,"#%d P%d0 ",m_Femur.iD,m_Femur.curr);
00092         if(valuesTibiaChange)
00093             sprintf (buffer3,"#%d P%d0 ",m_Tibia.iD,m_Tibia.curr);
00094         if(valuesTarsChange)
00095             sprintf (buffer4,"#%d P%d0",m_Tars.iD,m_Tars.curr);
00096         //sprintf (buffer,"#%d P%d0 #%d P%d0 #%d P%d0 #%d P%d0",m_Coxa.iD,m_Coxa.curr,m_Femur.iD,m_Femur.curr,m_Tibia.iD,m_Tibia.curr,m_Tars.iD,m_Tars.curr);
00097         sprintf (buffer,"%s%s%s%s",buffer1,buffer2,buffer3,buffer4);
00098         //debug(1,"\n\n\rintern string %s",buffer);
00099         
00100         return buffer;
00101     }
00102     bool haveChange() {
00103         bool result = valuesChange|valuesCoxaChange|valuesFemurChange|valuesTibiaChange|valuesTarsChange;
00104         if(valuesChange)valuesChange=false;
00105         return result;
00106     }
00107     //setting Coxa //
00108     void set_Id_Coxa(char id) {
00109         m_Coxa.iD = id;
00110         valuesChange =true;
00111     }
00112     void set_PulseMax_Coxa(unsigned char value) {
00113         m_Coxa.max = value;
00114         valuesChange =true;
00115     }
00116     void set_PulseMin_Coxa(unsigned char value) {
00117         m_Coxa.min = value;
00118         valuesChange =true;
00119     }
00120     void set_DefaultPulse_Coxa(unsigned char value) {
00121         m_Coxa.basePose = value;
00122         valuesChange =true;
00123     }
00124     char get_Id_Coxa(void) {
00125         return m_Coxa.iD;
00126     }
00127     unsigned char get_PulseMax_Coxa(void) {
00128         return m_Coxa.max;
00129     }
00130     unsigned char get_PulseMin_Coxa(void) {
00131         return m_Coxa.min;
00132     }
00133     unsigned char get_DefaultPulse_Coxa(void) {
00134         return m_Coxa.basePose;
00135     }
00136     unsigned char get_CurrentPulse_Coxa(void) {
00137         return m_Coxa.curr;
00138     }
00139     //setting Femur //
00140     void set_Id_Femur(char id) {
00141         m_Femur.iD = id;
00142         valuesChange =true;
00143     }
00144     void set_PulseMax_Femur(unsigned char value) {
00145         m_Femur.max = value;
00146         valuesChange =true;
00147     }
00148     void set_PulseMin_Femur(unsigned char value) {
00149         m_Femur.min = value;
00150         valuesChange =true;
00151     }
00152     void set_DefaultPulse_Femur(unsigned char value) {
00153         m_Femur.basePose = value;
00154         valuesChange =true;
00155     }
00156     char get_Id_Femur(void) {
00157         return m_Femur.iD;
00158     }
00159     unsigned char get_PulseMax_Femur(void) {
00160         return m_Femur.max;
00161     }
00162     unsigned char get_PulseMin_Femur(void) {
00163         return m_Femur.min;
00164     }
00165     unsigned char get_DefaultPulse_Femur(void) {
00166         return m_Femur.basePose;
00167     }
00168     unsigned char get_CurrentPulse_Femur(void) {
00169         return m_Femur.curr;
00170     }
00171     //setting Tibia //
00172     void set_Id_Tibia(char id) {
00173         m_Tibia.iD = id;
00174         valuesChange =true;
00175     }
00176     void set_PulseMax_Tibia(unsigned char value) {
00177         m_Tibia.max = value;
00178         valuesChange =true;
00179     }
00180     void set_PulseMin_Tibia(unsigned char value) {
00181         m_Tibia.min = value;
00182         valuesChange =true;
00183     }
00184     void set_DefaultPulse_Tibia(unsigned char value) {
00185         m_Tibia.basePose = value;
00186         valuesChange =true;
00187     }
00188     char get_Id_Tibia(void) {
00189         return m_Tibia.iD;
00190     }
00191     unsigned char get_PulseMax_Tibia(void) {
00192         return m_Tibia.max;
00193     }
00194     unsigned char get_PulseMin_Tibia(void) {
00195         return m_Tibia.min;
00196     }
00197     unsigned char get_DefaultPulse_Tibia(void) {
00198         return m_Tibia.basePose;
00199     }
00200     unsigned char get_CurrentPulse_Tibia(void) {
00201         return m_Tibia.curr;
00202     }
00203     //setting Tars //
00204     void set_Id_Tars(char id) {
00205         m_Tars.iD = id;
00206         valuesChange =true;
00207     }
00208     void set_PulseMax_Tars(unsigned char value) {
00209         m_Tars.max = value;
00210         valuesChange =true;
00211     }
00212     void set_PulseMin_Tars(unsigned char value) {
00213         m_Tars.min = value;
00214         valuesChange =true;
00215     }
00216     void set_DefaultPulse_Tars(unsigned char value) {
00217         m_Tars.basePose = value;
00218         valuesChange =true;
00219     }
00220     char get_Id_Tars(void) {
00221         return m_Tars.iD;
00222     }
00223     unsigned char get_PulseMax_Tars(void) {
00224         return m_Tars.max;
00225     }
00226     unsigned char get_PulseMin_Tars(void) {
00227         return m_Tars.min;
00228     }
00229     unsigned char get_DefaultPulse_Tars(void) {
00230         return m_Tars.basePose;
00231     }
00232     unsigned char get_CurrentPulse_Tars(void) {
00233         return m_Tars.curr;
00234     }
00235     //setting All-in-one //
00236     void set_Id(char coxaId,char femurId,char tibiaId,char tarsId) {
00237         m_Coxa.iD = coxaId;
00238         m_Femur.iD= femurId;
00239         m_Tibia.iD= tibiaId;
00240         m_Tars.iD = tarsId;
00241         valuesChange =true;
00242     }
00243     void set_PulseMax(unsigned char coxaValue,unsigned char femurValue,
00244                       unsigned char tibiaValue,unsigned char tarsValue) {
00245         m_Coxa.max = coxaValue;
00246         m_Femur.max= femurValue;
00247         m_Tibia.max= tibiaValue;
00248         m_Tars.max = tarsValue;
00249         valuesChange =true;
00250     }
00251     void set_PulseMin(unsigned char coxaValue,unsigned char femurValue,
00252                       unsigned char tibiaValue,unsigned char tarsValue) {
00253         m_Coxa.min = coxaValue;
00254         m_Femur.min= femurValue;
00255         m_Tibia.min= tibiaValue;
00256         m_Tars.min = tarsValue;
00257         valuesChange =true;
00258     }
00259     void set_DefaultPulse(unsigned char coxaValue,unsigned char femurValue,
00260                           unsigned char tibiaValue,unsigned char tarsValue) {
00261         m_Coxa.basePose = coxaValue;
00262         m_Femur.basePose= femurValue;
00263         m_Tibia.basePose= tibiaValue;
00264         m_Tars.basePose = tarsValue;
00265         valuesChange =true;
00266     }
00267     //////////
00268     // Move //
00269     //////////
00270     void move_Coxa(unsigned char value) {
00271         if((value >= m_Coxa.min)&&(value <= m_Coxa.max )&& (value != 255) ) {
00272             m_Coxa.curr = value;
00273             valuesCoxaChange =true;
00274         }
00275         else
00276         valuesCoxaChange =false;
00277     }
00278     void move_Femur(unsigned char value) {
00279         if((value >= m_Femur.min)&&(value <= m_Femur.max )&& (value != 255)) {
00280             m_Femur.curr = value;
00281             valuesFemurChange =true;
00282         }
00283         else
00284         valuesFemurChange =false;
00285     }
00286     void move_Tibia(unsigned char value) {
00287         if((value >= m_Tibia.min)&&(value <= m_Tibia.max )&& (value != 255)) {
00288             m_Tibia.curr = value;
00289             valuesTibiaChange =true;
00290         }
00291         else
00292         valuesTibiaChange =false;
00293     }
00294     void move_Tars(unsigned char value) {
00295         if((value >= m_Tars.min)&&(value <= m_Tars.max )&& (value != 255)) {
00296             m_Tars.curr = value;
00297             valuesTarsChange =true;
00298         }
00299         else
00300         valuesTarsChange =false;
00301     }
00302     void move(unsigned char coxaValue,unsigned char femurValue,
00303               unsigned char tibiaValue,unsigned char tarsValue) {//noob proof
00304         this->move_Coxa(coxaValue);
00305         this->move_Femur(femurValue);
00306         this->move_Tibia(tibiaValue);
00307         this->move_Tars(tarsValue);
00308     }
00309 };
00310 #endif /* PATTE_H_ */