Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Motions.h
- Committer:
- syundo0730
- Date:
- 2013-02-21
- Revision:
- 14:522bb06f0f0d
- Parent:
- 13:711f74b2fa33
- Child:
- 16:e65c192b7ecf
File content as of revision 14:522bb06f0f0d:
#ifndef MOTIONS_H_2013_02_02_ #define MOTIONS_H_2013_02_02_ #include "mbed.h" #include "Motion.h" #include "SCI.h" #include <string> const float TIMESTEP = 0.02; class Motions { public: Motions(uint16_t* data); ~Motions(); public: void control(); private: 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; private: Motion* inter; bool playing; SCI* comu; //LocalFileSystem* local; }; #endif