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@21:a54bcab078ed, 2013-09-04 (annotated)

Committer:
syundo0730
Date:
Wed Sep 04 03:59:40 2013 +0000
Revision:
21:a54bcab078ed
Parent:
20:abb7852df747
Child:
22:bf5aa20b9df0
Motion handling was moved to out of motion class

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 17:60de3bfdc70b 6
syundo0730 12:6cd135bf03bd 7 #include "Motion.h"
syundo0730 20:abb7852df747 8 #include "OfflineMotion.h"
syundo0730 17:60de3bfdc70b 9 #include "OnlineMotion.h"
syundo0730 17:60de3bfdc70b 10
syundo0730 12:6cd135bf03bd 11 #include "SCI.h"
syundo0730 21:a54bcab078ed 12 //#include "PWM.h"
syundo0730 21:a54bcab078ed 13 #include "Adafruit_PWMServoDriver.h"
syundo0730 17:60de3bfdc70b 14
syundo0730 17:60de3bfdc70b 15 #include "CSV.h"
syundo0730 19:c2ec475367aa 16 #include "readMotion.h"
syundo0730 12:6cd135bf03bd 17
syundo0730 20:abb7852df747 18 class Controlor
syundo0730 12:6cd135bf03bd 19 {
syundo0730 12:6cd135bf03bd 20 public:
syundo0730 20:abb7852df747 21 Controlor(uint16_t* data);
syundo0730 20:abb7852df747 22 ~Controlor();
syundo0730 12:6cd135bf03bd 23
syundo0730 12:6cd135bf03bd 24 public:
syundo0730 12:6cd135bf03bd 25 void control();
syundo0730 12:6cd135bf03bd 26
syundo0730 12:6cd135bf03bd 27 private:
syundo0730 12:6cd135bf03bd 28 void read(const string& filename, uint16_t* data);
syundo0730 12:6cd135bf03bd 29 void set(uint16_t* data);
syundo0730 13:711f74b2fa33 30 bool checkid(int id);
syundo0730 13:711f74b2fa33 31
syundo0730 13:711f74b2fa33 32 public:
syundo0730 13:711f74b2fa33 33 void setmotion(const int id);
syundo0730 12:6cd135bf03bd 34 void play();
syundo0730 12:6cd135bf03bd 35
syundo0730 12:6cd135bf03bd 36 private:
syundo0730 12:6cd135bf03bd 37 uint16_t*** motions;
syundo0730 12:6cd135bf03bd 38 int motion_size;
syundo0730 12:6cd135bf03bd 39 int* pose_size;
syundo0730 12:6cd135bf03bd 40 int servo_size;
syundo0730 12:6cd135bf03bd 41
syundo0730 20:abb7852df747 42 OfflineMotion* offline;
syundo0730 17:60de3bfdc70b 43 OnlineMotion* online;
syundo0730 20:abb7852df747 44 Motion* motion;
syundo0730 17:60de3bfdc70b 45
syundo0730 12:6cd135bf03bd 46 private:
syundo0730 12:6cd135bf03bd 47 bool playing;
syundo0730 20:abb7852df747 48 bool attached;
syundo0730 12:6cd135bf03bd 49 SCI* comu;
syundo0730 21:a54bcab078ed 50 //PWM* pwm;
syundo0730 21:a54bcab078ed 51 Adafruit_PWMServoDriver* pwm;
syundo0730 12:6cd135bf03bd 52 };
syundo0730 12:6cd135bf03bd 53
syundo0730 12:6cd135bf03bd 54 #endif