Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Motion/OfflineMotion.h@21:a54bcab078ed, 2013-09-04 (annotated)
- Committer:
- syundo0730
- Date:
- Wed Sep 04 03:59:40 2013 +0000
- Revision:
- 21:a54bcab078ed
- Parent:
- 20:abb7852df747
Motion handling was moved to out of motion class
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
syundo0730 | 20:abb7852df747 | 1 | #ifndef OFFLINEMOTION_H_2012_09_21_ |
syundo0730 | 20:abb7852df747 | 2 | #define OFFLINEMOTION_H_2012_09_21_ |
syundo0730 | 20:abb7852df747 | 3 | |
syundo0730 | 20:abb7852df747 | 4 | #include "LPC17xx.h" |
syundo0730 | 20:abb7852df747 | 5 | #include "mbed.h" |
syundo0730 | 21:a54bcab078ed | 6 | //#include "PWM.h" |
syundo0730 | 21:a54bcab078ed | 7 | #include "Adafruit_PWMServoDriver.h" |
syundo0730 | 20:abb7852df747 | 8 | //#include "Motion.h" |
syundo0730 | 20:abb7852df747 | 9 | |
syundo0730 | 20:abb7852df747 | 10 | class OfflineMotion //: public Motion |
syundo0730 | 20:abb7852df747 | 11 | { |
syundo0730 | 20:abb7852df747 | 12 | public: |
syundo0730 | 21:a54bcab078ed | 13 | OfflineMotion(uint16_t** data, unsigned short int size_idx, unsigned char size_num, Adafruit_PWMServoDriver* _pwm, bool* _playing); |
syundo0730 | 20:abb7852df747 | 14 | ~OfflineMotion(); |
syundo0730 | 20:abb7852df747 | 15 | public: |
syundo0730 | 20:abb7852df747 | 16 | void step(); |
syundo0730 | 20:abb7852df747 | 17 | private: |
syundo0730 | 20:abb7852df747 | 18 | void update(); |
syundo0730 | 20:abb7852df747 | 19 | void set_inter(); |
syundo0730 | 20:abb7852df747 | 20 | void init_inter(); |
syundo0730 | 20:abb7852df747 | 21 | void step_inter(); |
syundo0730 | 20:abb7852df747 | 22 | |
syundo0730 | 20:abb7852df747 | 23 | private: |
syundo0730 | 21:a54bcab078ed | 24 | //PWM* pwm; |
syundo0730 | 21:a54bcab078ed | 25 | Adafruit_PWMServoDriver* pwm; |
syundo0730 | 20:abb7852df747 | 26 | uint16_t** m_data; |
syundo0730 | 20:abb7852df747 | 27 | unsigned short int m_IDX_MAX; |
syundo0730 | 20:abb7852df747 | 28 | unsigned char m_NUM_MAX; |
syundo0730 | 20:abb7852df747 | 29 | unsigned char m_data_num[500]; //inter |
syundo0730 | 20:abb7852df747 | 30 | unsigned char m_mode; |
syundo0730 | 20:abb7852df747 | 31 | bool* playing; |
syundo0730 | 20:abb7852df747 | 32 | |
syundo0730 | 20:abb7852df747 | 33 | private: |
syundo0730 | 20:abb7852df747 | 34 | unsigned short int m_idx; |
syundo0730 | 20:abb7852df747 | 35 | unsigned char m_play; |
syundo0730 | 20:abb7852df747 | 36 | private: |
syundo0730 | 20:abb7852df747 | 37 | double m_buf[25]; //buf |
syundo0730 | 20:abb7852df747 | 38 | double m_d_buf[25]; //dbuf |
syundo0730 | 20:abb7852df747 | 39 | double m_dd_buf[25]; //ddbuf |
syundo0730 | 20:abb7852df747 | 40 | double m_brake_flg; |
syundo0730 | 20:abb7852df747 | 41 | unsigned char m_brake_pnt; |
syundo0730 | 20:abb7852df747 | 42 | }; |
syundo0730 | 20:abb7852df747 | 43 | |
syundo0730 | 20:abb7852df747 | 44 | #endif |