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

Motions.h@17:60de3bfdc70b, 2013-04-02 (annotated)

Committer:
syundo0730
Date:
Tue Apr 02 04:19:09 2013 +0000
Revision:
17:60de3bfdc70b
Parent:
16:e65c192b7ecf
Child:
19:c2ec475367aa
+realtime module(not move well)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 12:6cd135bf03bd 1 #ifndef MOTIONS_H_2013_02_02_
syundo0730 12:6cd135bf03bd 2 #define MOTIONS_H_2013_02_02_
syundo0730 12:6cd135bf03bd 3
syundo0730 12:6cd135bf03bd 4 #include "mbed.h"
syundo0730 17:60de3bfdc70b 5 #include <string>
syundo0730 17:60de3bfdc70b 6
syundo0730 12:6cd135bf03bd 7 #include "Motion.h"
syundo0730 17:60de3bfdc70b 8 #include "OnlineMotion.h"
syundo0730 17:60de3bfdc70b 9
syundo0730 12:6cd135bf03bd 10 #include "SCI.h"
syundo0730 16:e65c192b7ecf 11 #include "PWM.h"
syundo0730 17:60de3bfdc70b 12
syundo0730 17:60de3bfdc70b 13 #include "CSV.h"
syundo0730 12:6cd135bf03bd 14
syundo0730 14:522bb06f0f0d 15 const float TIMESTEP = 0.02;
syundo0730 14:522bb06f0f0d 16
syundo0730 12:6cd135bf03bd 17 class Motions
syundo0730 12:6cd135bf03bd 18 {
syundo0730 12:6cd135bf03bd 19 public:
syundo0730 12:6cd135bf03bd 20 Motions(uint16_t* data);
syundo0730 12:6cd135bf03bd 21 ~Motions();
syundo0730 12:6cd135bf03bd 22
syundo0730 12:6cd135bf03bd 23 public:
syundo0730 12:6cd135bf03bd 24 void control();
syundo0730 12:6cd135bf03bd 25
syundo0730 12:6cd135bf03bd 26 private:
syundo0730 12:6cd135bf03bd 27 void read(const string& filename, uint16_t* data);
syundo0730 12:6cd135bf03bd 28 void set(uint16_t* data);
syundo0730 13:711f74b2fa33 29 bool checkid(int id);
syundo0730 13:711f74b2fa33 30
syundo0730 13:711f74b2fa33 31 public:
syundo0730 13:711f74b2fa33 32 void setmotion(const int id);
syundo0730 12:6cd135bf03bd 33 void play();
syundo0730 12:6cd135bf03bd 34
syundo0730 12:6cd135bf03bd 35 private:
syundo0730 12:6cd135bf03bd 36 uint16_t*** motions;
syundo0730 12:6cd135bf03bd 37 int motion_size;
syundo0730 12:6cd135bf03bd 38 int* pose_size;
syundo0730 12:6cd135bf03bd 39 int servo_size;
syundo0730 12:6cd135bf03bd 40
syundo0730 17:60de3bfdc70b 41 Motion* offline;
syundo0730 17:60de3bfdc70b 42 OnlineMotion* online;
syundo0730 17:60de3bfdc70b 43
syundo0730 12:6cd135bf03bd 44 private:
syundo0730 12:6cd135bf03bd 45 bool playing;
syundo0730 12:6cd135bf03bd 46 SCI* comu;
syundo0730 16:e65c192b7ecf 47 PWM* pwm;
syundo0730 12:6cd135bf03bd 48 };
syundo0730 12:6cd135bf03bd 49
syundo0730 12:6cd135bf03bd 50 #endif