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

Motion/OfflineMotion.h@20:abb7852df747, 2013-08-19 (annotated)

Committer:
syundo0730
Date:
Mon Aug 19 08:10:58 2013 +0000
Revision:
20:abb7852df747
Child:
21:a54bcab078ed
delete Motion instance from Control class

Who changed what in which revision?

UserRevisionLine numberNew 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 20:abb7852df747 6 #include "PWM.h"
syundo0730 20:abb7852df747 7 //#include "Motion.h"
syundo0730 20:abb7852df747 8
syundo0730 20:abb7852df747 9 class OfflineMotion //: public Motion
syundo0730 20:abb7852df747 10 {
syundo0730 20:abb7852df747 11 public:
syundo0730 20:abb7852df747 12 OfflineMotion(uint16_t** data, unsigned short int size_idx, unsigned char size_num, PWM* _pwm, bool* playing);
syundo0730 20:abb7852df747 13 ~OfflineMotion();
syundo0730 20:abb7852df747 14 public:
syundo0730 20:abb7852df747 15 void step();
syundo0730 20:abb7852df747 16 private:
syundo0730 20:abb7852df747 17 void update();
syundo0730 20:abb7852df747 18 void set_inter();
syundo0730 20:abb7852df747 19 void init_inter();
syundo0730 20:abb7852df747 20 void step_inter();
syundo0730 20:abb7852df747 21
syundo0730 20:abb7852df747 22 private:
syundo0730 20:abb7852df747 23 PWM* pwm;
syundo0730 20:abb7852df747 24 uint16_t** m_data;
syundo0730 20:abb7852df747 25 unsigned short int m_IDX_MAX;
syundo0730 20:abb7852df747 26 unsigned char m_NUM_MAX;
syundo0730 20:abb7852df747 27 unsigned char m_data_num[500]; //inter
syundo0730 20:abb7852df747 28 unsigned char m_mode;
syundo0730 20:abb7852df747 29 bool* playing;
syundo0730 20:abb7852df747 30
syundo0730 20:abb7852df747 31 private:
syundo0730 20:abb7852df747 32 unsigned short int m_idx;
syundo0730 20:abb7852df747 33 unsigned char m_play;
syundo0730 20:abb7852df747 34 private:
syundo0730 20:abb7852df747 35 double m_buf[25]; //buf
syundo0730 20:abb7852df747 36 double m_d_buf[25]; //dbuf
syundo0730 20:abb7852df747 37 double m_dd_buf[25]; //ddbuf
syundo0730 20:abb7852df747 38 double m_brake_flg;
syundo0730 20:abb7852df747 39 unsigned char m_brake_pnt;
syundo0730 20:abb7852df747 40 };
syundo0730 20:abb7852df747 41
syundo0730 20:abb7852df747 42 #endif