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

Motions.h

Committer:
syundo0730
Date:
2013-02-03
Revision:
13:711f74b2fa33
Parent:
12:6cd135bf03bd
Child:
14:522bb06f0f0d

File content as of revision 13:711f74b2fa33:

#ifndef MOTIONS_H_2013_02_02_
#define MOTIONS_H_2013_02_02_

#include "mbed.h"
#include "Motion.h"
#include "SCI.h"
#include <string>

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