Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Motions.h
- Committer:
- syundo0730
- Date:
- 2013-04-02
- Revision:
- 17:60de3bfdc70b
- Parent:
- 16:e65c192b7ecf
- Child:
- 19:c2ec475367aa
File content as of revision 17:60de3bfdc70b:
#ifndef MOTIONS_H_2013_02_02_ #define MOTIONS_H_2013_02_02_ #include "mbed.h" #include <string> #include "Motion.h" #include "OnlineMotion.h" #include "SCI.h" #include "PWM.h" #include "CSV.h" 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; Motion* offline; OnlineMotion* online; private: bool playing; SCI* comu; PWM* pwm; }; #endif