Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Motions.h@14:522bb06f0f0d, 2013-02-21 (annotated)
- Committer:
- syundo0730
- Date:
- Thu Feb 21 14:27:19 2013 +0000
- Revision:
- 14:522bb06f0f0d
- Parent:
- 13:711f74b2fa33
- Child:
- 16:e65c192b7ecf
suicide
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
syundo0730 | 12:6cd135bf03bd | 1 | #ifndef MOTIONS_H_2013_02_02_ |
syundo0730 | 12:6cd135bf03bd | 2 | #define MOTIONS_H_2013_02_02_ |
syundo0730 | 12:6cd135bf03bd | 3 | |
syundo0730 | 12:6cd135bf03bd | 4 | #include "mbed.h" |
syundo0730 | 12:6cd135bf03bd | 5 | #include "Motion.h" |
syundo0730 | 12:6cd135bf03bd | 6 | #include "SCI.h" |
syundo0730 | 12:6cd135bf03bd | 7 | #include <string> |
syundo0730 | 12:6cd135bf03bd | 8 | |
syundo0730 | 14:522bb06f0f0d | 9 | const float TIMESTEP = 0.02; |
syundo0730 | 14:522bb06f0f0d | 10 | |
syundo0730 | 12:6cd135bf03bd | 11 | class Motions |
syundo0730 | 12:6cd135bf03bd | 12 | { |
syundo0730 | 12:6cd135bf03bd | 13 | public: |
syundo0730 | 12:6cd135bf03bd | 14 | Motions(uint16_t* data); |
syundo0730 | 12:6cd135bf03bd | 15 | ~Motions(); |
syundo0730 | 12:6cd135bf03bd | 16 | |
syundo0730 | 12:6cd135bf03bd | 17 | public: |
syundo0730 | 12:6cd135bf03bd | 18 | void control(); |
syundo0730 | 12:6cd135bf03bd | 19 | |
syundo0730 | 12:6cd135bf03bd | 20 | private: |
syundo0730 | 12:6cd135bf03bd | 21 | void read(const string& filename, uint16_t* data); |
syundo0730 | 12:6cd135bf03bd | 22 | void set(uint16_t* data); |
syundo0730 | 13:711f74b2fa33 | 23 | bool checkid(int id); |
syundo0730 | 13:711f74b2fa33 | 24 | |
syundo0730 | 13:711f74b2fa33 | 25 | public: |
syundo0730 | 13:711f74b2fa33 | 26 | void setmotion(const int id); |
syundo0730 | 12:6cd135bf03bd | 27 | void play(); |
syundo0730 | 12:6cd135bf03bd | 28 | |
syundo0730 | 12:6cd135bf03bd | 29 | private: |
syundo0730 | 12:6cd135bf03bd | 30 | uint16_t*** motions; |
syundo0730 | 12:6cd135bf03bd | 31 | int motion_size; |
syundo0730 | 12:6cd135bf03bd | 32 | int* pose_size; |
syundo0730 | 12:6cd135bf03bd | 33 | int servo_size; |
syundo0730 | 12:6cd135bf03bd | 34 | |
syundo0730 | 12:6cd135bf03bd | 35 | private: |
syundo0730 | 12:6cd135bf03bd | 36 | Motion* inter; |
syundo0730 | 12:6cd135bf03bd | 37 | bool playing; |
syundo0730 | 12:6cd135bf03bd | 38 | SCI* comu; |
syundo0730 | 12:6cd135bf03bd | 39 | //LocalFileSystem* local; |
syundo0730 | 12:6cd135bf03bd | 40 | }; |
syundo0730 | 12:6cd135bf03bd | 41 | |
syundo0730 | 12:6cd135bf03bd | 42 | #endif |