Diff: Motion/OfflineMotion.h

Revision:

20:abb7852df747

Child:

21:a54bcab078ed

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motion/OfflineMotion.h	Mon Aug 19 08:10:58 2013 +0000
@@ -0,0 +1,42 @@
+#ifndef OFFLINEMOTION_H_2012_09_21_
+#define OFFLINEMOTION_H_2012_09_21_
+
+#include "LPC17xx.h"
+#include "mbed.h"
+#include "PWM.h"
+//#include "Motion.h"
+
+class OfflineMotion //: public Motion
+{
+  public:
+    OfflineMotion(uint16_t** data, unsigned short int size_idx, unsigned char size_num, PWM* _pwm, bool* playing);
+    ~OfflineMotion();
+  public:
+    void step();
+  private:
+    void update();
+    void set_inter();
+    void init_inter();
+    void step_inter();
+  
+  private:
+    PWM* pwm;
+    uint16_t** m_data;
+    unsigned short int m_IDX_MAX;
+    unsigned char m_NUM_MAX;
+    unsigned char m_data_num[500];  //inter
+    unsigned char m_mode;
+    bool* playing;
+  
+  private:
+    unsigned short int m_idx;
+    unsigned char m_play;
+  private:  
+    double m_buf[25];              //buf
+    double m_d_buf[25];            //dbuf
+    double m_dd_buf[25];           //ddbuf
+    double m_brake_flg;
+    unsigned char m_brake_pnt;
+};
+
+#endif
\ No newline at end of file