Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.

Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

Controlor.h@23:0927e605af4b, 2013-11-22 (annotated)

Committer:
syundo0730
Date:
Fri Nov 22 00:30:42 2013 +0000
Revision:
23:0927e605af4b
Parent:
22:bf5aa20b9df0 
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 20:abb7852df747 1 #ifndef CONTROLOR_H_2013_02_02_
syundo0730 20:abb7852df747 2 #define CONTROLOR_H_2013_02_02_
syundo0730 12:6cd135bf03bd 3
syundo0730 12:6cd135bf03bd 4 #include "mbed.h"
syundo0730 17:60de3bfdc70b 5 #include <string>
syundo0730 23:0927e605af4b 6 #include <fstream>
syundo0730 17:60de3bfdc70b 7
syundo0730 12:6cd135bf03bd 8 #include "Motion.h"
syundo0730 20:abb7852df747 9 #include "OfflineMotion.h"
syundo0730 17:60de3bfdc70b 10 #include "OnlineMotion.h"
syundo0730 23:0927e605af4b 11 #include "CPG.h"
syundo0730 17:60de3bfdc70b 12
syundo0730 22:bf5aa20b9df0 13 #include "Console.h"
syundo0730 21:a54bcab078ed 14 //#include "PWM.h"
syundo0730 21:a54bcab078ed 15 #include "Adafruit_PWMServoDriver.h"
syundo0730 23:0927e605af4b 16 #include "RS300.h"
syundo0730 17:60de3bfdc70b 17
syundo0730 17:60de3bfdc70b 18 #include "CSV.h"
syundo0730 19:c2ec475367aa 19 #include "readMotion.h"
syundo0730 12:6cd135bf03bd 20
syundo0730 20:abb7852df747 21 class Controlor
syundo0730 12:6cd135bf03bd 22 {
syundo0730 12:6cd135bf03bd 23 public:
syundo0730 20:abb7852df747 24 Controlor(uint16_t* data);
syundo0730 20:abb7852df747 25 ~Controlor();
syundo0730 12:6cd135bf03bd 26
syundo0730 12:6cd135bf03bd 27 public:
syundo0730 12:6cd135bf03bd 28 void control();
syundo0730 12:6cd135bf03bd 29
syundo0730 12:6cd135bf03bd 30 private:
syundo0730 23:0927e605af4b 31 void home();
syundo0730 12:6cd135bf03bd 32 void read(const string& filename, uint16_t* data);
syundo0730 12:6cd135bf03bd 33 void set(uint16_t* data);
syundo0730 13:711f74b2fa33 34 bool checkid(int id);
syundo0730 13:711f74b2fa33 35
syundo0730 13:711f74b2fa33 36 public:
syundo0730 13:711f74b2fa33 37 void setmotion(const int id);
syundo0730 12:6cd135bf03bd 38 void play();
syundo0730 12:6cd135bf03bd 39
syundo0730 12:6cd135bf03bd 40 private:
syundo0730 12:6cd135bf03bd 41 uint16_t*** motions;
syundo0730 12:6cd135bf03bd 42 int motion_size;
syundo0730 12:6cd135bf03bd 43 int* pose_size;
syundo0730 12:6cd135bf03bd 44 int servo_size;
syundo0730 12:6cd135bf03bd 45
syundo0730 20:abb7852df747 46 OfflineMotion* offline;
syundo0730 17:60de3bfdc70b 47 OnlineMotion* online;
syundo0730 23:0927e605af4b 48 CPG* cpg;
syundo0730 20:abb7852df747 49 Motion* motion;
syundo0730 23:0927e605af4b 50 //std::ofstream log;
syundo0730 23:0927e605af4b 51 int mode;
syundo0730 17:60de3bfdc70b 52
syundo0730 12:6cd135bf03bd 53 private:
syundo0730 12:6cd135bf03bd 54 bool playing;
syundo0730 20:abb7852df747 55 bool attached;
syundo0730 22:bf5aa20b9df0 56 Console* comu;
syundo0730 21:a54bcab078ed 57 //PWM* pwm;
syundo0730 21:a54bcab078ed 58 Adafruit_PWMServoDriver* pwm;
syundo0730 23:0927e605af4b 59 RS300* rs300;
syundo0730 12:6cd135bf03bd 60 };
syundo0730 12:6cd135bf03bd 61
syundo0730 23:0927e605af4b 62 #endif