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

Controlor.h@20:abb7852df747, 2013-08-19 (annotated)

Committer:
syundo0730
Date:
Mon Aug 19 08:10:58 2013 +0000
Revision:
20:abb7852df747
Parent:
Motions.h@19:c2ec475367aa
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 CONTROLOR_H_2013_02_02_
syundo0730 20:abb7852df747 2 #define CONTROLOR_H_2013_02_02_
syundo0730 12:6cd135bf03bd 3
syundo0730 12:6cd135bf03bd 4 #include "mbed.h"
syundo0730 17:60de3bfdc70b 5 #include <string>
syundo0730 17:60de3bfdc70b 6
syundo0730 12:6cd135bf03bd 7 #include "Motion.h"
syundo0730 20:abb7852df747 8 #include "OfflineMotion.h"
syundo0730 17:60de3bfdc70b 9 #include "OnlineMotion.h"
syundo0730 17:60de3bfdc70b 10
syundo0730 12:6cd135bf03bd 11 #include "SCI.h"
syundo0730 16:e65c192b7ecf 12 #include "PWM.h"
syundo0730 17:60de3bfdc70b 13
syundo0730 17:60de3bfdc70b 14 #include "CSV.h"
syundo0730 19:c2ec475367aa 15 #include "readMotion.h"
syundo0730 12:6cd135bf03bd 16
syundo0730 14:522bb06f0f0d 17 const float TIMESTEP = 0.02;
syundo0730 14:522bb06f0f0d 18
syundo0730 20:abb7852df747 19 class Controlor
syundo0730 12:6cd135bf03bd 20 {
syundo0730 12:6cd135bf03bd 21 public:
syundo0730 20:abb7852df747 22 Controlor(uint16_t* data);
syundo0730 20:abb7852df747 23 ~Controlor();
syundo0730 12:6cd135bf03bd 24
syundo0730 12:6cd135bf03bd 25 public:
syundo0730 12:6cd135bf03bd 26 void control();
syundo0730 12:6cd135bf03bd 27
syundo0730 12:6cd135bf03bd 28 private:
syundo0730 12:6cd135bf03bd 29 void read(const string& filename, uint16_t* data);
syundo0730 12:6cd135bf03bd 30 void set(uint16_t* data);
syundo0730 13:711f74b2fa33 31 bool checkid(int id);
syundo0730 13:711f74b2fa33 32
syundo0730 13:711f74b2fa33 33 public:
syundo0730 13:711f74b2fa33 34 void setmotion(const int id);
syundo0730 12:6cd135bf03bd 35 void play();
syundo0730 12:6cd135bf03bd 36
syundo0730 12:6cd135bf03bd 37 private:
syundo0730 12:6cd135bf03bd 38 uint16_t*** motions;
syundo0730 12:6cd135bf03bd 39 int motion_size;
syundo0730 12:6cd135bf03bd 40 int* pose_size;
syundo0730 12:6cd135bf03bd 41 int servo_size;
syundo0730 12:6cd135bf03bd 42
syundo0730 20:abb7852df747 43 OfflineMotion* offline;
syundo0730 17:60de3bfdc70b 44 OnlineMotion* online;
syundo0730 20:abb7852df747 45 Motion* motion;
syundo0730 17:60de3bfdc70b 46
syundo0730 12:6cd135bf03bd 47 private:
syundo0730 12:6cd135bf03bd 48 bool playing;
syundo0730 20:abb7852df747 49 bool attached;
syundo0730 12:6cd135bf03bd 50 SCI* comu;
syundo0730 16:e65c192b7ecf 51 PWM* pwm;
syundo0730 12:6cd135bf03bd 52 };
syundo0730 12:6cd135bf03bd 53
syundo0730 12:6cd135bf03bd 54 #endif