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@12:6cd135bf03bd, 2013-02-03 (annotated)

Committer:
syundo0730
Date:
Sun Feb 03 04:53:44 2013 +0000
Revision:
12:6cd135bf03bd
Child:
13:711f74b2fa33
file reading, motion selecting, serial communication

Who changed what in which revision?

UserRevisionLine numberNew 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 12:6cd135bf03bd 9 class Motions
syundo0730 12:6cd135bf03bd 10 {
syundo0730 12:6cd135bf03bd 11 public:
syundo0730 12:6cd135bf03bd 12 Motions(uint16_t* data);
syundo0730 12:6cd135bf03bd 13 ~Motions();
syundo0730 12:6cd135bf03bd 14
syundo0730 12:6cd135bf03bd 15 public:
syundo0730 12:6cd135bf03bd 16 void control();
syundo0730 12:6cd135bf03bd 17
syundo0730 12:6cd135bf03bd 18 private:
syundo0730 12:6cd135bf03bd 19 void read(const string& filename, uint16_t* data);
syundo0730 12:6cd135bf03bd 20 void set(uint16_t* data);
syundo0730 12:6cd135bf03bd 21 void setmotion(const int& id);
syundo0730 12:6cd135bf03bd 22 void play();
syundo0730 12:6cd135bf03bd 23
syundo0730 12:6cd135bf03bd 24 private:
syundo0730 12:6cd135bf03bd 25 uint16_t*** motions;
syundo0730 12:6cd135bf03bd 26 int motion_size;
syundo0730 12:6cd135bf03bd 27 int* pose_size;
syundo0730 12:6cd135bf03bd 28 int servo_size;
syundo0730 12:6cd135bf03bd 29
syundo0730 12:6cd135bf03bd 30 private:
syundo0730 12:6cd135bf03bd 31 Motion* inter;
syundo0730 12:6cd135bf03bd 32 bool playing;
syundo0730 12:6cd135bf03bd 33 SCI* comu;
syundo0730 12:6cd135bf03bd 34 //LocalFileSystem* local;
syundo0730 12:6cd135bf03bd 35 };
syundo0730 12:6cd135bf03bd 36
syundo0730 12:6cd135bf03bd 37 #endif