Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Controlor.h
- Committer:
- syundo0730
- Date:
- 2013-11-22
- Revision:
- 23:0927e605af4b
- Parent:
- 22:bf5aa20b9df0
File content as of revision 23:0927e605af4b:
#ifndef CONTROLOR_H_2013_02_02_ #define CONTROLOR_H_2013_02_02_ #include "mbed.h" #include <string> #include <fstream> #include "Motion.h" #include "OfflineMotion.h" #include "OnlineMotion.h" #include "CPG.h" #include "Console.h" //#include "PWM.h" #include "Adafruit_PWMServoDriver.h" #include "RS300.h" #include "CSV.h" #include "readMotion.h" class Controlor { public: Controlor(uint16_t* data); ~Controlor(); public: void control(); private: void home(); void read(const string& filename, uint16_t* data); void set(uint16_t* data); bool checkid(int id); public: void setmotion(const int id); void play(); private: uint16_t*** motions; int motion_size; int* pose_size; int servo_size; OfflineMotion* offline; OnlineMotion* online; CPG* cpg; Motion* motion; //std::ofstream log; int mode; private: bool playing; bool attached; Console* comu; //PWM* pwm; Adafruit_PWMServoDriver* pwm; RS300* rs300; }; #endif