Alexandre Salconi-Denis
/
ProjetOctopode
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homemadeSequence.cpp
00001 /** 00002 * homemadeSequence.cpp 00003 * 00004 * Created on: Mar 03, 2015 00005 * Author: salco 00006 */ 00007 #include "homemadeSequence.h" 00008 00009 00010 unsigned char table_seqDefaultPos[8][4] = { 00011 {137,123,217,135}, 00012 {165,120,222,135}, 00013 {160,117,217,137}, 00014 {150,111,213,142}, 00015 {153,181, 83,166}, 00016 {133,187, 78,161}, 00017 {170,192, 78,156}, 00018 {144,181, 81,165}}; 00019 #define SIZE_SEQUP 9 00020 unsigned char table_seqUp[SIZE_SEQUP][2][3] = { { {80 , 210, 160}, {220, 90 , 114} }, 00021 { {80 , 220, 170}, {220, 80 , 130} }, 00022 { {90 , 220, 160}, {200, 80 , 140} }, 00023 { {106, 220, 150}, {194, 80 , 150} }, 00024 { {128, 220, 127}, {172, 80 , 173} }, 00025 { {144, 205, 130}, {156, 95 , 170} }, 00026 { {144, 210, 123}, {156, 89 , 177} }, 00027 { {172, 185, 124}, {128, 115, 176} }, 00028 { {194, 166, 118}, {106, 134, 182} } 00029 }; 00030 00031 unsigned char table_seqDown[SIZE_SEQUP][2][3] = { { {172, 185, 124}, {128, 115, 176} }, 00032 { {172, 185, 124}, {128, 115, 176} }, 00033 { {144, 210, 123}, {156, 89 , 177} }, 00034 { {144, 205, 130}, {156, 95 , 170} }, 00035 { {128, 220, 127}, {172, 80 , 173} }, 00036 { {106, 220, 150}, {194, 80 , 150} }, 00037 { {90 , 220, 160}, {200, 80 , 140} }, 00038 { {80 , 220, 170}, {220, 80 , 130} }, 00039 { {80 , 100, 150}, {220, 200, 150} } 00040 };//fin de la seq il met ses patte sur sa tete** 00041 00042 #define SIZE_SEQCRABE 33 00043 unsigned char table_seqCrabe[SIZE_SEQCRABE][8][3] = {{ /* 0*/{255,255,255}, /* 4*/{125, 184, 156}, /* 8*/{132, 215, 147}, /*12*/{255,255,255}, 00044 /*16*/{203,101,128}, /*20*/{255,255,255}, /*24*/{176, 87, 163}, /*28*/{191, 103,133} 00045 }, 00046 { /* 0*/{255,255,255}, /* 4*/{111, 185, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00047 /*16*/{209, 99,140}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{196, 105,142} 00048 }, 00049 { /* 0*/{255,255,255}, /* 4*/{103, 192, 155}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00050 /*16*/{203,108,137}, /*20*/{255, 255, 255}, /*24*/{170, 88, 159}, /*28*/{191, 112,141} 00051 }, 00052 { /* 0*/{255,255,255}, /* 4*/{ 98, 199, 158}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00053 /*16*/{196,114,137}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{184, 118,142} 00054 }, 00055 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00056 /*16*/{182,115,144}, /*20*/{255, 255, 255}, /*24*/{169, 83, 164}, /*28*/{172, 118,142} 00057 }, 00058 { /* 0*/{255,255,255}, /* 4*/{102, 201, 170}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00059 /*16*/{152,137,139}, /*20*/{255, 255, 255}, /*24*/{169, 78, 155}, /*28*/{146, 137,142} 00060 }, 00061 { /* 0*/{255,255,255}, /* 4*/{102, 207, 179}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00062 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 76, 137}, /*28*/{255, 255,255} 00063 }, 00064 { /* 0*/{255,255,255}, /* 4*/{ 94, 213, 183}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00065 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{181, 77, 131}, /*28*/{255, 255,255} 00066 }, 00067 { /* 0*/{255,255,255}, /* 4*/{106, 216, 175}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00068 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{208, 75, 116}, /*28*/{255, 255,255} 00069 }, 00070 { /* 0*/{255,255,255}, /* 4*/{129, 217, 165}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00071 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{225, 75, 109}, /*28*/{255, 255,255} 00072 }, 00073 { /* 0*/{255,255,255}, /* 4*/{129, 221, 156}, /* 8*/{255, 255, 255}, /*12*/{255, 255,255}, 00074 /*16*/{255,255,255}, /*20*/{161, 117, 148}, /*24*/{211, 85, 120}, /*28*/{255, 255,255} 00075 }, 00076 { /* 0*/{153,159,157}, /* 4*/{141, 210, 152}, /* 8*/{255, 255, 255}, /*12*/{149, 158,159}, 00077 /*16*/{255,255,255}, /*20*/{172, 92, 165}, /*24*/{211, 90, 127}, /*28*/{255, 255,255} 00078 }, 00079 { /* 0*/{121,180,156}, /* 4*/{139, 217, 134}, /* 8*/{255, 255, 255}, /*12*/{121, 180,156}, 00080 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{215, 93, 140}, /*28*/{255, 255,255} 00081 }, 00082 { /* 0*/{113,176,156}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{107, 182,156}, 00083 /*16*/{255,255,255}, /*20*/{168, 94, 157}, /*24*/{209, 101, 142}, /*28*/{255, 255,255} 00084 }, 00085 { /* 0*/{105,183,155}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{100, 187,150}, 00086 /*16*/{255,255,255}, /*20*/{255, 255, 255}, /*24*/{202, 106, 142}, /*28*/{255, 255,255} 00087 }, 00088 { /* 0*/{100,191,158}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 96, 193,155}, 00089 /*16*/{255,255,255}, /*20*/{167, 86, 166}, /*24*/{187, 109, 144}, /*28*/{255, 255,255} 00090 }, 00091 { /* 0*/{103,193,170}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 197,170}, 00092 /*16*/{255,255,255}, /*20*/{166, 87, 150}, /*24*/{154, 133, 140}, /*28*/{255, 255,255} 00093 }, 00094 { /* 0*/{103,200,177}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 99, 201,177}, 00095 /*16*/{255,255,255}, /*20*/{177, 80, 145}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} 00096 }, 00097 { /* 0*/{ 96,205,182}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{ 91, 208,176}, 00098 /*16*/{255,255,255}, /*20*/{177, 87, 130}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} 00099 }, 00100 { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173}, 00101 /*16*/{255,255,255}, /*20*/{192, 92, 123}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} 00102 }, 00103 { /* 0*/{108,216,171}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{102, 210,173}, 00104 /*16*/{255,255,255}, /*20*/{218, 79, 120}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} 00105 }, 00106 { /* 0*/{129,219,151}, /* 4*/{255, 255, 255}, /* 8*/{255, 255, 255}, /*12*/{125, 213,157}, 00107 /*16*/{162,115,150}, /*20*/{206, 93, 118}, /*24*/{255, 255, 255}, /*28*/{154, 116,150} 00108 }, 00109 { /* 0*/{140,209,142}, /* 4*/{255, 255, 255}, /* 8*/{145, 161, 157}, /*12*/{135, 215,145}, 00110 /*16*/{170, 93,167}, /*20*/{206, 97, 127}, /*24*/{255, 255, 255}, /*28*/{163, 93,168} 00111 }, 00112 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{115, 182, 158}, /*12*/{255, 255,255}, 00113 /*16*/{255,255,255}, /*20*/{212, 97, 142}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} 00114 }, 00115 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{101, 183, 156}, /*12*/{255, 255,255}, 00116 /*16*/{167, 93,159}, /*20*/{205, 107, 142}, /*24*/{255, 255, 255}, /*28*/{160, 96,160} 00117 }, 00118 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 94, 190, 154}, /*12*/{255, 255,255}, 00119 /*16*/{255,255,255}, /*20*/{197, 113, 144}, /*24*/{255, 255, 255}, /*28*/{255, 255,255} 00120 }, 00121 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 89, 197, 158}, /*12*/{255, 255,255}, 00122 /*16*/{167, 86,167}, /*20*/{182, 115, 142}, /*24*/{255, 255, 255}, /*28*/{161, 88,162} 00123 }, 00124 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 200, 171}, /*12*/{255, 255,255}, 00125 /*16*/{166, 86,156}, /*20*/{153, 136, 142}, /*24*/{255, 255, 255}, /*28*/{166, 86,156} 00126 }, 00127 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 92, 205, 175}, /*12*/{255, 255,255}, 00128 /*16*/{177, 82,133}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 82,143} 00129 }, 00130 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 82, 215, 177}, /*12*/{255, 255,255}, 00131 /*16*/{177, 85,126}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{169, 84,135} 00132 }, 00133 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{ 96, 214, 176}, /*12*/{255, 255,255}, 00134 /*16*/{191,101,113}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{190, 86,124} 00135 }, 00136 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 213, 158}, /*12*/{255, 255,255}, 00137 /*16*/{213, 83,124}, /*20*/{255, 255, 255}, /*24*/{255, 255, 255}, /*28*/{202, 88,121} 00138 }, 00139 { /* 0*/{255,255,255}, /* 4*/{255, 255, 255}, /* 8*/{120, 217, 154}, /*12*/{255, 255,255}, 00140 /*16*/{203, 95,110}, /*20*/{255, 255, 255}, /*24*/{165, 109, 152}, /*28*/{191, 101,120} 00141 } 00142 }; 00143 #define SIZE_SEQTURN 31 00144 unsigned char table_seqTurn_PAUSE_TIME[SIZE_SEQTURN][2] = { 00145 { 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 20, 20},{ 30, 30},{ 30, 30},{ 30, 30}, 00146 { 30, 30},{ 20, 20},{ 25, 25},{ 20, 30},{ 25, 20},{ 21, 30},{ 30, 30},{ 30, 30}, 00147 { 20, 20},{ 20, 20},{ 20, 30},{ 20, 20},{ 20, 20},{ 30, 30},{ 31, 30}, 00148 { 20, 20},{ 30, 30},{ 20, 30},{ 30, 30},{ 20, 20},{ 20, 30},{ 30, 30},{ 0, 30} 00149 }; 00150 00151 unsigned char table_seqTurn[SIZE_SEQTURN][8][3] = { 00152 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255}, 00153 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255} 00154 }, 00155 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255}, 00156 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} 00157 }, 00158 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 90,196,170}, /*12*/{255,255,255}, 00159 /*16*/{255,255,255}, /*20*/{205,107,129}, /*24*/{255,255,255}, /*28*/{255,255,255} 00160 }, 00161 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{101,183,165}, /*12*/{255,255,255}, 00162 /*16*/{255,255,255}, /*20*/{197,113,135}, /*24*/{255,255,255}, /*28*/{255,255,255} 00163 }, 00164 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255}, 00165 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} 00166 }, 00167 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{118,219,139}, /*12*/{255,255,255}, 00168 /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255} 00169 }, 00170 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{117,217,137}, /*12*/{255,255,255}, 00171 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255} 00172 }, 00173 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255}, 00174 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255} 00175 }, 00176 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00177 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124} 00178 }, 00179 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00180 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 95,124} 00181 }, 00182 { /* 0*/{105,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00183 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{208, 99,127} 00184 }, 00185 { /* 0*/{113,176,165}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00186 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{204,103,133} 00187 }, 00188 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00189 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115} 00190 }, 00191 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00192 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169} 00193 }, 00194 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00195 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167} 00196 }, 00197 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176}, 00198 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00199 }, 00200 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, 00201 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00202 }, 00203 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 94,196,168}, 00204 /*16*/{203,103,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00205 }, 00206 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{107,182,165}, 00207 /*16*/{196,114,128}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00208 }, 00209 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, 00210 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00211 }, 00212 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 92,198,168}, 00213 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00214 }, 00215 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145}, 00216 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00217 }, 00218 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142}, 00219 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00220 }, 00221 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00222 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{204, 88,116}, /*28*/{255,255,255} 00223 }, 00224 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00225 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{190, 76,160}, /*28*/{255,255,255} 00226 }, 00227 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00228 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{192, 78,156}, /*28*/{255,255,255} 00229 }, 00230 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00231 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{194, 78,161}, /*28*/{255,255,255} 00232 }, 00233 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00234 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00235 }, 00236 { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00237 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00238 }, 00239 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00240 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00241 }, 00242 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00243 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00244 } 00245 }; 00246 00247 #define SIZE_SEQREPOSITIONNE 6 00248 unsigned char table_seqRepositionne_PAUSE_TIME[SIZE_SEQREPOSITIONNE][2] = {{ 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}}; 00249 unsigned char table_seqRepositionne[SIZE_SEQREPOSITIONNE][8][3] = { 00250 { /* 0*/{103,206,176}, /* 4*/{102,213,176}, /* 8*/{ 92,211,171}, /*12*/{ 99,211,176}, 00251 /*16*/{210, 86,121}, /*20*/{213, 85,118}, /*24*/{217, 83,118}, /*28*/{200, 86,124} 00252 }, 00253 { /* 0*/{100,188,184}, /* 4*/{ 98,193,185}, /* 8*/{ 89,193,186}, /*12*/{ 96,193,185}, 00254 /*16*/{209, 99,115}, /*20*/{212, 99,119}, /*24*/{215, 95,119}, /*28*/{205, 95,124} 00255 }, 00256 { /* 0*/{ 93,182,166}, /* 4*/{ 86,196,161}, /* 8*/{ 75,196,170}, /*12*/{ 88,192,168}, 00257 /*16*/{206,115,125}, /*20*/{211,114,129}, /*24*/{213,110,129}, /*28*/{206,108,127} 00258 }, 00259 { /* 0*/{ 93,187,203}, /* 4*/{ 88,202,195}, /* 8*/{ 88,207,190}, /*12*/{ 92,198,199}, 00260 /*16*/{204,110,107}, /*20*/{207,110,100}, /*24*/{204, 88,116}, /*28*/{203,103,115} 00261 }, 00262 { /* 0*/{123,220,139}, /* 4*/{125,225,133}, /* 8*/{118,219,139}, /*12*/{118,206,145}, 00263 /*16*/{179, 82,167}, /*20*/{189, 76,160}, /*24*/{190, 76,160}, /*28*/{178, 78,169} 00264 }, 00265 { /* 0*/{123,217,135}, /* 4*/{120,222,135}, /* 8*/{113,217,137}, /*12*/{111,213,142}, 00266 /*16*/{181, 83,166}, /*20*/{187, 78,161}, /*24*/{194, 78,161}, /*28*/{181, 81,167} 00267 } 00268 }; 00269 #define SIZE_SEQFOWARD 43 00270 unsigned char table_seqFoward_PAUSE_TIME[SIZE_SEQFOWARD][2] = { 00271 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 21, 20},{ 0, 45},{ 61, 50}, 00272 { 21, 20},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20}, 00273 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 50},{ 0, 50},{ 21, 20},{ 41, 45}, 00274 { 11, 10},{ 16, 15},{ 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}, 00275 { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50}, 00276 { 15, 15},{ 21, 20},{ 21, 20},{ 51, 50} 00277 }; 00278 unsigned char table_seqFoward[SIZE_SEQFOWARD][8][3] = { 00279 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00280 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{255,255,255} 00281 }, 00282 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00283 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} 00284 }, 00285 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00286 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00287 }, 00288 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00289 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} 00290 }, 00291 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255},//attention ici 2 temps diferant 00292 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{200, 86,124} 00293 }, 00294 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 89,193,186}, /*12*/{255,255,255}, 00295 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205, 95,124} 00296 }, 00297 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00298 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00299 }, 00300 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255}, 00301 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} 00302 }, 00303 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{145,161,172}, /*12*/{255,255,255}, 00304 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130} 00305 }, 00306 { /* 0*/{127,186,156}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255}, 00307 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{179, 81,167} 00308 }, 00309 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00310 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00311 }, 00312 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 88,207,190}, /*12*/{255,255,255}, 00313 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00314 }, 00315 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255}, 00316 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00317 }, 00318 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00319 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00320 }, 00321 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00322 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00323 }, 00324 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00325 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00326 }, 00327 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00328 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00329 }, 00330 { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00331 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255} 00332 }, 00333 { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00334 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255} 00335 }, 00336 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00337 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00338 }, 00339 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00340 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255} 00341 }, 00342 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{ 99,211,176},//attention temps diferant ici 00343 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{154,133,133}, /*28*/{255,255,255} 00344 }, 00345 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, 00346 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00347 }, 00348 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00349 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00350 }, 00351 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, 00352 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00353 }, 00354 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{145,158,173}, 00355 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00356 }, 00357 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00358 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00359 }, 00360 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps 00361 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255} 00362 }, 00363 { /* 0*/{127,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{116,219,134}, 00364 /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} 00365 }, 00366 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00367 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00368 }, 00369 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00370 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00371 }, 00372 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00373 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00374 }, 00375 { /* 0*/{ 93,187,203}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00376 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00377 }, 00378 { /* 0*/{123,220,139}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00379 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00380 }, 00381 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00382 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00383 }, 00384 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00385 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00386 }, 00387 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00388 /*16*/{204,110,107}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00389 }, 00390 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00391 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00392 }, 00393 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00394 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00395 }, 00396 { /* 0*/{255,255,255}, /* 4*/{ 86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00397 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00398 }, 00399 { /* 0*/{255,255,255}, /* 4*/{ 88,202,195}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00400 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00401 }, 00402 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00403 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00404 }, 00405 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00406 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00407 } 00408 }; 00409 00410 #define SIZE_SEQBACKWARD 35 00411 unsigned char table_seqBackward_PAUSE_TIME[SIZE_SEQBACKWARD][2] = { 00412 { 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 31, 30},{ 0, 45},{ 61, 50}, 00413 { 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 21, 20},{ 21, 20},{ 31, 30},{ 51, 50},{ 16, 15},{ 21, 30}, 00414 { 50,100},{ 21, 20},{ 16, 15},{ 21, 30},{ 50,100},{ 21, 20},{ 51, 45},{ 0, 50},{ 21, 20},{ 41, 45},{ 21, 20}, 00415 { 21, 20},{ 31, 30},{ 31, 50} 00416 }; 00417 unsigned char table_seqBackward[SIZE_SEQBACKWARD][8][3] = { 00418 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 92,211,171}, /*12*/{255,255,255}, 00419 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{200, 86,124} 00420 }, 00421 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{89,193,186}, /*12*/{255,255,255}, 00422 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{205,95,124} 00423 }, 00424 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00425 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00426 }, 00427 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{ 75,196,170}, /*12*/{255,255,255}, 00428 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} 00429 }, 00430 { /* 0*/{103,206,176}, /* 4*/{255,255,255}, /* 8*/{113,217,137}, /*12*/{255,255,255},//attention ici 2 temps diferant 00431 /*16*/{255,255,255}, /*20*/{213, 85,118}, /*24*/{255,255,255}, /*28*/{181, 81,167} 00432 }, 00433 { /* 0*/{100,188,184}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00434 /*16*/{255,255,255}, /*20*/{212, 99,119}, /*24*/{255,255,255}, /*28*/{255,255,255} 00435 }, 00436 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00437 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00438 }, 00439 { /* 0*/{ 93,182,166}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00440 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} 00441 }, 00442 { /* 0*/{136,186,156}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00443 /*16*/{255,255,255}, /*20*/{176,108,146}, /*24*/{255,255,255}, /*28*/{179, 81,167} 00444 }, 00445 { /* 0*/{123,217,135}, /* 4*/{255,255,139}, /* 8*/{115,217,142}, /*12*/{255,255,255}, 00446 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{155,137,130} 00447 }, 00448 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00449 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00450 }, 00451 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00452 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{206,108,127} 00453 }, 00454 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00455 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{203,103,115} 00456 }, 00457 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00458 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{178, 78,169} 00459 }, 00460 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00461 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{181, 81,167} 00462 }, 00463 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00464 /*16*/{255,255,255}, /*20*/{211,114,129}, /*24*/{255,255,255}, /*28*/{255,255,255} 00465 }, 00466 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00467 /*16*/{255,255,255}, /*20*/{207,110,100}, /*24*/{255,255,255}, /*28*/{255,255,255} 00468 }, 00469 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00470 /*16*/{255,255,255}, /*20*/{189, 76,160}, /*24*/{255,255,255}, /*28*/{255,255,255} 00471 }, 00472 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00473 /*16*/{255,255,255}, /*20*/{187, 78,161}, /*24*/{255,255,255}, /*28*/{255,255,255} 00474 }, 00475 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 99,211,176}, 00476 /*16*/{210, 86,121}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00477 }, 00478 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 96,193,185}, 00479 /*16*/{209, 99,115}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00480 }, 00481 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00482 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00483 }, 00484 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, 00485 /*16*/{206,115,125}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00486 }, 00487 { /* 0*/{255,255,255}, /* 4*/{102,213,176}, /* 8*/{255,255,255}, /*12*/{116,219,134},//attention plusieur temps 00488 /*16*/{171,111,143}, /*20*/{255,255,255}, /*24*/{217, 83,118}, /*28*/{255,255,255} 00489 }, 00490 { /* 0*/{255,255,255}, /* 4*/{ 98,193,185}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00491 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{215, 95,119}, /*28*/{255,255,255} 00492 }, 00493 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00494 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00495 }, 00496 { /* 0*/{255,255,255}, /* 4*/{86,196,161}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00497 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{213,110,129}, /*28*/{255,255,255} 00498 }, 00499 { /* 0*/{255,255,255}, /* 4*/{125,225,133}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00500 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} 00501 }, 00502 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{255,255,255}, 00503 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00504 }, 00505 { /* 0*/{255,255,255}, /* 4*/{120,222,135}, /* 8*/{255,255,255}, /*12*/{111,213,142},//attention plusieur temps 00506 /*16*/{181, 83,166}, /*20*/{255,255,255}, /*24*/{182, 78,161}, /*28*/{255,255,255} 00507 }, 00508 { /* 0*/{123,217,135}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{132,178,166}, 00509 /*16*/{179, 82,167}, /*20*/{255,255,255}, /*24*/{180, 86,156}, /*28*/{255,255,255} 00510 }, 00511 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{ 88,192,168}, 00512 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00513 }, 00514 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{92,198,199}, 00515 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00516 }, 00517 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{118,206,145}, 00518 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00519 }, 00520 { /* 0*/{255,255,255}, /* 4*/{255,255,255}, /* 8*/{255,255,255}, /*12*/{111,213,142}, 00521 /*16*/{255,255,255}, /*20*/{255,255,255}, /*24*/{255,255,255}, /*28*/{255,255,255} 00522 } 00523 }; 00524 /*unsigned char table_seqUpDown[9][8][4] = { { {140, 80, 210, 160}, {165, 80, 210, 160}, {160, 80, 210, 160}, {150, 80, 210, 160}, 00525 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, 00526 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, 00527 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, 00528 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, 00529 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, 00530 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, 00531 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, 00532 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, 00533 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, 00534 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, 00535 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, 00536 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, 00537 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, 00538 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, 00539 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} }, 00540 { {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, 00541 {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4}, {1, 2, 3, 4} } };*/ 00542 homemadeSequence::homemadeSequence() 00543 { 00544 m_SequenceChosen=0; 00545 m_idFrame=0; 00546 m_idLegUse =0; 00547 delaisNeed =-1; 00548 for(int i=0; i<8; i++)timeSequence[i]=255; 00549 } 00550 homemadeSequence::~homemadeSequence() 00551 { 00552 00553 } 00554 int homemadeSequence::patchDelais(char idMode) 00555 { 00556 int result=-1; 00557 switch(idMode) { 00558 /*case 1: 00559 break; 00560 case 2: 00561 break; 00562 case 3: 00563 break;*/ 00564 case 4: 00565 result = (table_seqTurn_PAUSE_TIME[0][0])*10; 00566 break; 00567 /*case 5: 00568 break;*/ 00569 case 6: 00570 result = (table_seqFoward_PAUSE_TIME[0][0])*10; 00571 break; 00572 case 7: 00573 result = (table_seqBackward_PAUSE_TIME[0][0])*10; 00574 break; 00575 case 8: 00576 result = (table_seqRepositionne_PAUSE_TIME[0][0])*10; 00577 break; 00578 /*case 9: 00579 break; 00580 case 10: 00581 break; 00582 case 11: 00583 break;*/ 00584 default: 00585 result = -1; 00586 break; 00587 } 00588 return result; 00589 } 00590 unsigned char* homemadeSequence::get_frame(/*char idSequence,char idOperation,*/char idLeg) 00591 { 00592 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r In Get Frame"); 00593 m_posLeg[0] = 0; 00594 m_posLeg[1] = 0; 00595 m_posLeg[2] = 0; 00596 m_posLeg[3] = 0; 00597 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r idLeg: %i",idLeg); 00598 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_SequenceChosen: %i",m_SequenceChosen); 00599 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r m_idFrame: %i",m_idFrame); 00600 switch(m_SequenceChosen) { 00601 case 1:// 01 - Calibration(milieu) // 00602 if(m_idFrame == 1) {//if(idOperation == 1) { 00603 m_posLeg[0] = 150; 00604 m_posLeg[1] = 150; 00605 m_posLeg[2] = 150; 00606 m_posLeg[3] = 150; 00607 } else { 00608 m_posLeg[0] = 0; 00609 m_posLeg[1] = 0; 00610 m_posLeg[2] = 0; 00611 m_posLeg[3] = 0; 00612 } 00613 break; 00614 00615 case 2:// 02 - Debout // 00616 seqUpDown(true,m_idFrame,idLeg);//seqUpDown(true,idOperation,idLeg); 00617 break; 00618 case 3:// 03 - Coucher // 00619 seqUpDown(false,m_idFrame,idLeg);//seqUpDown(false,idOperation,idLeg); 00620 break; 00621 case 4:// 04 - Tourne Gauche // 00622 //delaisNeed = (table_seqTurn_PAUSE_TIME[m_idFrame-1][0])*10; 00623 //debug("\n\r asd:%i",delaisNeed); 00624 seqTurn(false,m_idFrame,idLeg); 00625 break; 00626 case 5:// 05 - Tourne Droite // 00627 //delaisNeed = (table_seqTurn_PAUSE_TIME[m_idFrame-1][0])*10; 00628 //debug("\n\r seqt:%i",delaisNeed); 00629 seqTurn(true,m_idFrame,idLeg); 00630 break; 00631 case 6:// 06 - Marche // 00632 seqWalk(true,m_idFrame,idLeg); 00633 break; 00634 case 7:// 07 - Recule // 00635 seqWalk(false,m_idFrame,idLeg); 00636 break; 00637 case 8:// 07 - Repositioner // 00638 seqRepositioner(m_idFrame,idLeg); 00639 break; 00640 case 9:// 09 - Crabe Gauche // 00641 seqCrabe(false,m_idFrame,idLeg); 00642 break; 00643 case 10:// 10 - Crabe Droite // 00644 seqCrabe(true,m_idFrame,idLeg); 00645 break; 00646 case 11:// 11 - Position naturel // 00647 defaultPosition(idLeg); 00648 break; 00649 } 00650 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r delaisNeed: %i",delaisNeed); 00651 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r timeSequence: "); 00652 for(int i=0; i<8; i++)debug(DEBUG_HOMEMADE_GETFRAME," [ %i ] ",timeSequence[i]); 00653 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]); 00654 //debug("\n\r seqturn:%i",delaisNeed); 00655 debug(DEBUG_HOMEMADE_GETFRAME,"\n\r Out Get Frame"); 00656 return m_posLeg; 00657 } 00658 00659 void homemadeSequence::seqUpDown(bool downUP,char idOperation,char idLeg) 00660 { 00661 delaisNeed = DELAITESTE;//(table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10; 00662 if((idOperation<10)&&(idOperation>0)) { 00663 switch(idLeg) { //moving hips 00664 case 1://#0 00665 m_posLeg[0] = 140; 00666 break; 00667 case 2://#4 00668 m_posLeg[0] = 165; 00669 break; 00670 case 3://#8 00671 m_posLeg[0] = 160; 00672 break; 00673 case 6://#20 00674 m_posLeg[0] = 133; 00675 break; 00676 case 7://#24 00677 m_posLeg[0] = 170; 00678 break; 00679 default://#12 #28 00680 m_posLeg[0] = 150; 00681 break; 00682 } 00683 if(downUP) { 00684 if(idLeg<5) 00685 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][0][i-1]; 00686 else 00687 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqUp[idOperation-1][1][i-1]; 00688 } else { 00689 if(idLeg<5) 00690 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][0][i-1]; 00691 else 00692 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqDown[idOperation-1][1][i-1]; 00693 } 00694 /*if(idOperation == 1) { 00695 if(idLeg<5) { 00696 m_posLeg[1] = 80; 00697 m_posLeg[2] = 210; 00698 m_posLeg[3] = 160; 00699 } else { 00700 m_posLeg[1] = 220; 00701 m_posLeg[2] = 90; 00702 m_posLeg[3] = 114; 00703 } 00704 00705 } else { 00706 if(!downUP) { 00707 if(idOperation == 9) { 00708 if(idLeg<5) { 00709 m_posLeg[1] = 80; 00710 m_posLeg[2] = 100; 00711 m_posLeg[3] = 150; 00712 } else { 00713 m_posLeg[1] = 220; 00714 m_posLeg[2] = 200; 00715 m_posLeg[3] = 150; 00716 } 00717 } 00718 idOperation = 10 - idOperation; 00719 } 00720 00721 switch(idOperation) { 00722 case 1: 00723 00724 break; 00725 case 2: 00726 if(idLeg<5) { 00727 m_posLeg[1] = 80; 00728 m_posLeg[2] = 220; 00729 m_posLeg[3] = 170; 00730 } else { 00731 m_posLeg[1] = 220; 00732 m_posLeg[2] = 80; 00733 m_posLeg[3] = 130; 00734 } 00735 break; 00736 case 3: 00737 if(idLeg<5) { 00738 m_posLeg[1] = 90; 00739 m_posLeg[2] = 220; 00740 m_posLeg[3] = 160; 00741 } else { 00742 m_posLeg[1] = 200; 00743 m_posLeg[2] = 200; 00744 m_posLeg[3] = 140; 00745 } 00746 break; 00747 case 4: 00748 if(idLeg<5) { 00749 m_posLeg[1] = 106; 00750 m_posLeg[2] = 220; 00751 m_posLeg[3] = 150; 00752 } else { 00753 m_posLeg[1] = 195; 00754 m_posLeg[2] = 80; 00755 m_posLeg[3] = 150; 00756 } 00757 break; 00758 case 5: 00759 if(idLeg<5) { 00760 m_posLeg[1] = 128; 00761 m_posLeg[2] = 220; 00762 m_posLeg[3] = 128; 00763 } else { 00764 m_posLeg[1] = 172; 00765 m_posLeg[2] = 80; 00766 m_posLeg[3] = 173; 00767 } 00768 break; 00769 case 6: 00770 if(idLeg<5) { 00771 m_posLeg[1] = 144; 00772 m_posLeg[2] = 205; 00773 m_posLeg[3] = 130; 00774 } else { 00775 m_posLeg[1] = 156; 00776 m_posLeg[2] = 95; 00777 m_posLeg[3] = 170; 00778 } 00779 break; 00780 case 7: 00781 if(idLeg<5) { 00782 m_posLeg[1] = 144; 00783 m_posLeg[2] = 211; 00784 m_posLeg[3] = 123; 00785 } else { 00786 m_posLeg[1] = 156; 00787 m_posLeg[2] = 89; 00788 m_posLeg[3] = 177; 00789 } 00790 break; 00791 case 8: 00792 if(idLeg<5) { 00793 m_posLeg[1] = 172; 00794 m_posLeg[2] = 185; 00795 m_posLeg[3] = 124; 00796 } else { 00797 m_posLeg[1] = 128; 00798 m_posLeg[2] = 115; 00799 m_posLeg[3] = 176; 00800 } 00801 break; 00802 case 9: 00803 if(idLeg<5) { 00804 m_posLeg[1] = 194; 00805 m_posLeg[2] = 166; 00806 m_posLeg[3] = 118; 00807 } else { 00808 m_posLeg[1] = 106; 00809 m_posLeg[2] = 134; 00810 m_posLeg[3] = 182; 00811 } 00812 break; 00813 default: 00814 m_posLeg[0] = 0; 00815 m_posLeg[1] = 0; 00816 m_posLeg[2] = 0; 00817 m_posLeg[3] = 0; 00818 break; 00819 } 00820 }*/ 00821 } 00822 } 00823 void homemadeSequence::seqTurn(bool leftRIGHT,char idOperation,char idLeg) 00824 { 00825 if(idOperation<=SIZE_SEQTURN) { 00826 m_posLeg[0]= 255; 00827 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqTurn[idOperation-1][idLeg-1][i-1]; 00828 delaisNeed = (table_seqTurn_PAUSE_TIME[idOperation-1][0])*10; 00829 //debug("\n\r seqturn:%i",delaisNeed); 00830 timeSequence[idLeg-1] = table_seqTurn_PAUSE_TIME[idOperation-1][1]; 00831 00832 switch(idOperation) { 00833 00834 case 3: 00835 switch(idLeg) { //moving hips 00836 case 3://#8 00837 m_posLeg[0]= (leftRIGHT)? 180:140; 00838 break; 00839 case 6://#20 00840 m_posLeg[0]= (leftRIGHT)? 150:114; 00841 break; 00842 } 00843 break; 00844 case 11: 00845 switch(idLeg) { //moving hips 00846 case 1://#0 00847 m_posLeg[0]= (leftRIGHT)? 150:110; 00848 break; 00849 case 8://28 00850 m_posLeg[0]= (leftRIGHT)? 164:104; 00851 break; 00852 } 00853 break; 00854 case 17: 00855 switch(idLeg) { //moving hips 00856 case 1://#0 00857 m_posLeg[0]= 140; 00858 break; 00859 case 2://4 00860 m_posLeg[0]= (leftRIGHT)? 150:176; 00861 break; 00862 case 3://8 00863 m_posLeg[0]= 160; 00864 break; 00865 case 6://20 00866 m_posLeg[0]= 133; 00867 break; 00868 case 7://24 00869 m_posLeg[0]= (leftRIGHT)? 153:183; 00870 break; 00871 case 8://28 00872 m_posLeg[0]= 133; 00873 break; 00874 } 00875 if((idLeg != 4) || (idLeg != 5)) 00876 timeSequence[idLeg-1] = 30; 00877 00878 break; 00879 00880 case 25: 00881 if(idLeg == 7) 00882 m_posLeg[0] = 170; 00883 break; 00884 00885 case 29: 00886 if(idLeg == 2) 00887 m_posLeg[0] = 165; 00888 break; 00889 //case : 00890 //break; 00891 //default: 00892 //m_posLeg[0]= 255; 00893 // break; 00894 } 00895 00896 00897 00898 } else 00899 for(int i=0; i <= 3; i++) m_posLeg[i]=0; 00900 } 00901 void homemadeSequence::seqWalk(bool backFRONT,char idOperation,char idLeg) 00902 { 00903 if(backFRONT) { 00904 if(idOperation <= SIZE_SEQFOWARD) { 00905 m_posLeg[0]= 255; 00906 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqFoward[idOperation-1][idLeg-1][i-1]; 00907 delaisNeed = (table_seqFoward_PAUSE_TIME[idOperation-1][0])*10; 00908 timeSequence[idLeg-1] = table_seqFoward_PAUSE_TIME[idOperation-1][1]; 00909 00910 //manque qqch ici 00911 switch(idOperation) { 00912 case 3: 00913 if(idLeg == 1) m_posLeg[0] = 150; 00914 else if(idLeg == 6) m_posLeg[0] = 123; 00915 break; 00916 00917 case 5: 00918 if((idLeg ==1) || (idLeg==6)) 00919 timeSequence[idLeg-1] = 30; 00920 break; 00921 00922 case 7: 00923 if(idLeg == 3)m_posLeg[0] = 187; 00924 else if(idLeg == 8) m_posLeg[0] = 123; 00925 break; 00926 00927 case 11: 00928 switch(idLeg) { 00929 case 1: 00930 m_posLeg[0] = 130; 00931 break; 00932 case 2: 00933 m_posLeg[0] = 140; 00934 break; 00935 case 3: 00936 m_posLeg[0] = 160; 00937 break; 00938 case 4: 00939 m_posLeg[0] = 117; 00940 break; 00941 case 5: 00942 m_posLeg[0] = 179; 00943 break; 00944 case 6: 00945 m_posLeg[0] = 134; 00946 break; 00947 case 7: 00948 m_posLeg[0] = 183; 00949 break; 00950 case 8: 00951 m_posLeg[0] = 144; 00952 break; 00953 } 00954 break; 00955 00956 case 16: 00957 if(idLeg == 1) m_posLeg[0] = 137; 00958 break; 00959 00960 case 20: 00961 if(idLeg == 2) m_posLeg[0] = 176; 00962 else if(idLeg == 7) m_posLeg[0] = 160; 00963 break; 00964 00965 case 22: 00966 if((idLeg ==2) || (idLeg==7)) 00967 timeSequence[idLeg-1] = 30; 00968 break; 00969 00970 case 24: 00971 if(idLeg == 4) m_posLeg[0] = 174; 00972 else if(idLeg == 5) m_posLeg[0] = 133; 00973 break; 00974 00975 case 27: 00976 switch(idLeg) { 00977 case 1: 00978 m_posLeg[0] = 110; 00979 break; 00980 case 2: 00981 m_posLeg[0] = 160; 00982 break; 00983 case 3: 00984 m_posLeg[0] = 140; 00985 break; 00986 case 4: 00987 m_posLeg[0] = 150; 00988 break; 00989 case 5: 00990 m_posLeg[0] = 153; 00991 break; 00992 case 6: 00993 m_posLeg[0] = 150; 00994 break; 00995 case 7: 00996 m_posLeg[0] = 173; 00997 break; 00998 case 8: 00999 m_posLeg[0] = 170; 01000 break; 01001 } 01002 break; 01003 01004 case 34: 01005 if(idLeg == 1) m_posLeg[0] = 130; 01006 break; 01007 01008 case 38: 01009 if(idLeg == 5) m_posLeg[0] = 153;//165; 01010 break; 01011 01012 case 42: 01013 if(idLeg == 2) m_posLeg[0] = 165; 01014 break; 01015 } 01016 } else 01017 for(int i=0; i <= 3; i++) m_posLeg[i]=0; 01018 01019 } else { 01020 if(idOperation <= SIZE_SEQBACKWARD) { 01021 m_posLeg[0]= 255; 01022 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqBackward[idOperation-1][idLeg-1][i-1]; 01023 delaisNeed = (table_seqBackward_PAUSE_TIME[idOperation-1][0])*10; 01024 timeSequence[idLeg-1] = table_seqBackward_PAUSE_TIME[idOperation-1][1]; 01025 01026 //manque qqch ici 01027 switch(idOperation) { 01028 case 3: 01029 if(idLeg == 3) m_posLeg[0] = 140; 01030 else if(idLeg == 8) m_posLeg[0] = 170; 01031 break; 01032 01033 case 5: 01034 if((idLeg ==3) || (idLeg==8)) 01035 timeSequence[idLeg-1] = 30; 01036 break; 01037 01038 case 7: 01039 if(idLeg == 1)m_posLeg[0] = 110; 01040 else if(idLeg == 6) m_posLeg[0] = 150; 01041 break; 01042 01043 case 11: 01044 switch(idLeg) { 01045 case 1: 01046 m_posLeg[0] = 130; 01047 break; 01048 case 2: 01049 m_posLeg[0] = 176; 01050 break; 01051 case 3: 01052 m_posLeg[0] = 160; 01053 break; 01054 case 4: 01055 m_posLeg[0] = 174; 01056 break; 01057 case 5: 01058 m_posLeg[0] = 133; 01059 break; 01060 case 6: 01061 m_posLeg[0] = 134; 01062 break; 01063 case 7: 01064 m_posLeg[0] = 160; 01065 break; 01066 case 8: 01067 m_posLeg[0] = 144; 01068 break; 01069 } 01070 break; 01071 01072 case 13: 01073 if(idLeg == 8) m_posLeg[0] = 144; 01074 break; 01075 01076 case 17: 01077 if(idLeg == 6) m_posLeg[0] = 133; 01078 break; 01079 01080 case 22: 01081 if(idLeg == 4) m_posLeg[0] = 117; 01082 else if(idLeg == 5) m_posLeg[0] = 179; 01083 break; 01084 01085 case 24: 01086 if((idLeg ==4) || (idLeg==5)) 01087 timeSequence[idLeg-1] = 45; 01088 break; 01089 01090 case 26: 01091 if(idLeg == 2) m_posLeg[0] = 140; 01092 else if(idLeg == 7) m_posLeg[0] = 190; 01093 break; 01094 01095 case 29: 01096 switch(idLeg) { 01097 case 1: 01098 m_posLeg[0] = 150; 01099 break; 01100 case 2: 01101 m_posLeg[0] = 160; 01102 break; 01103 case 3: 01104 m_posLeg[0] = 187; 01105 break; 01106 case 4: 01107 m_posLeg[0] = 150; 01108 break; 01109 case 5: 01110 m_posLeg[0] = 153; 01111 break; 01112 case 6: 01113 m_posLeg[0] = 123; 01114 break; 01115 case 7: 01116 m_posLeg[0] = 173; 01117 break; 01118 case 8: 01119 m_posLeg[0] = 123; 01120 break; 01121 } 01122 break; 01123 01124 case 33: 01125 if(idLeg == 4) m_posLeg[0] = 150; 01126 break; 01127 01128 /*case 38: 01129 if(idLeg == 5) m_posLeg[0] = 165; 01130 break; 01131 01132 case 42: 01133 if(idLeg == 1) m_posLeg[0] = 165; 01134 break;*/ 01135 } 01136 } else 01137 for(int i=0; i <= 3; i++) m_posLeg[i]=0; 01138 } 01139 } 01140 void homemadeSequence::seqRepositioner(char idOperation,char idLeg) 01141 { 01142 if(idOperation <= SIZE_SEQREPOSITIONNE) { 01143 m_posLeg[0]= 255; 01144 delaisNeed = (table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10; 01145 if(m_idLegUse == idLeg) { 01146 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqRepositionne[idOperation-1][idLeg-1][i-1]; 01147 01148 timeSequence[idLeg-1] = table_seqRepositionne_PAUSE_TIME[idOperation-1][1]; 01149 01150 if(idOperation == 5) { 01151 switch(idLeg) { 01152 case 1: 01153 m_posLeg[0] = 137; 01154 break; 01155 case 2: 01156 m_posLeg[0] = 165; 01157 break; 01158 case 3: 01159 m_posLeg[0] = 160; 01160 break; 01161 case 4: 01162 m_posLeg[0] = 150; 01163 break; 01164 case 5: 01165 m_posLeg[0] = 153; 01166 break; 01167 case 6: 01168 m_posLeg[0] = 133; 01169 break; 01170 case 7: 01171 m_posLeg[0] = 170; 01172 break; 01173 case 8: 01174 m_posLeg[0] = 144; 01175 break; 01176 } 01177 } 01178 01179 } else 01180 for(int i=0; i < 4; i++)m_posLeg[i]=255; 01181 01182 } else 01183 for(int i=0; i < 4; i++) m_posLeg[i]=0; 01184 } 01185 void homemadeSequence::seqCrabe(bool leftRIGHT,char idOperation,char idLeg) 01186 { 01187 if(idOperation<=SIZE_SEQCRABE) { 01188 m_posLeg[0]= 255; 01189 delaisNeed = 300;//DELAITESTE;//(table_seqRepositionne_PAUSE_TIME[idOperation-1][0])*10; 01190 timeSequence[idLeg-1] = 30; 01191 if(leftRIGHT) 01192 idOperation=SIZE_SEQCRABE-idOperation; 01193 01194 switch(idLeg) { //moving hips 01195 case 1: 01196 m_posLeg[0] = 140; 01197 break; 01198 case 2: 01199 m_posLeg[0] = 165; 01200 break; 01201 case 3: 01202 m_posLeg[0] = 160; 01203 break; 01204 case 6: 01205 m_posLeg[0] = 133; 01206 break; 01207 case 7: 01208 m_posLeg[0] = 170; 01209 break; 01210 default: 01211 m_posLeg[0] = 150; 01212 break; 01213 } 01214 01215 for(int i=1; i <= 3; i++) m_posLeg[i]=table_seqCrabe[idOperation-1][idLeg-1][i-1]; 01216 01217 01218 //inclure ici un truc de gestion des 0 parce que sa veux pas dire erreur mais juste pas changer cette patte la a ce frame la 01219 } else 01220 for(int i=0; i <= 3; i++) m_posLeg[i]=0; 01221 01222 01223 } 01224 void homemadeSequence::defaultPosition(char idLeg) 01225 { 01226 if(m_idFrame == 1) { 01227 timeSequence[idLeg-1] = 50; 01228 for(int i=0;i<4;i++) m_posLeg[i]=table_seqDefaultPos[idLeg-1][i]; 01229 } 01230 else 01231 for(int i=0;i<4;i++) m_posLeg[i]= 0; 01232 } 01233 bool homemadeSequence::next_frame(void) 01234 { 01235 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r in Next Frame"); 01236 bool result=false; 01237 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame); 01238 int tmpDelais=delaisNeed; 01239 01240 //if(m_idFrame > 1){ 01241 m_idFrame++; 01242 unsigned char* tmpTable = get_frame(1); 01243 01244 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r Leg1:"); 01245 for(int i=0; i<4; i++)debug(DEBUG_HOMEMADE_NEXTFRAME,"[%i]",tmpTable[i]); 01246 01247 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) { 01248 result=true; 01249 //m_idFrame++;//get_frame(m_idFrame); 01250 /*if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) { 01251 delaisNextSeq.reset(); 01252 delaisNeed=-1;*/ 01253 for(int i=0; i<8; i++)timeSequence[i]=255; 01254 //} else 01255 // m_idFrame--; 01256 } else 01257 m_idFrame--; 01258 01259 //} 01260 //} 01261 delaisNeed=tmpDelais; 01262 01263 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r m_idframe == %d",m_idFrame); 01264 debug(DEBUG_HOMEMADE_NEXTFRAME,"\n\r out Next Frame"); 01265 01266 return result; 01267 } 01268 bool homemadeSequence::prev_frame(void) //true == prev is ok 01269 { 01270 //false == impossible 01271 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r in Prev Frame"); 01272 bool result=false; 01273 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame); 01274 01275 01276 if(m_idFrame > 1) { 01277 m_idFrame--; 01278 unsigned char* tmpTable = get_frame(1); 01279 01280 if((tmpTable[0]!=0) && (tmpTable[1]!=0) && (tmpTable[2]!=0) && (tmpTable[3]!=0)) { 01281 result=true; 01282 //m_idFrame++;//get_frame(m_idFrame); 01283 /*if((delaisNextSeq.read_ms() >= delaisNeed) || (delaisNeed == -1)) { 01284 delaisNextSeq.reset();*/ 01285 delaisNeed=-1; 01286 for(int i=0; i<8; i++)timeSequence[i]=255; 01287 //} else 01288 // m_idFrame++; 01289 } else 01290 m_idFrame++; 01291 01292 //} 01293 } 01294 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r m_idframe == %d",m_idFrame); 01295 debug(DEBUG_HOMEMADE_PREVFRAME,"\n\r out Prev Frame"); 01296 01297 return result; 01298 }
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