PLEN2::Motion::Frame Class Reference

Class of a motion frame. More...

#include <Motion.h>

Public Types
enum	{ UPDATE_INTERVAL_MS = 32, FRAME_BEGIN = 0, FRAME_END = 20 }

Static Public Member Functions
static void	init (Frame &frame)
	Initialize the frame. More...
static bool	set (uint8_t slot, uint8_t index, const Frame &frame)
	Write the frame to external EEPROM. More...
static bool	get (uint8_t slot, uint8_t index, Frame &frame)
	Read the frame from external EEPROM. More...

Public Attributes
uint8_t	index
	Index of a frame. More...
uint16_t	transition_time_ms
	Time of transit to the frame. More...
int16_t	joint_angle [JointController::JOINTS_SUM]
	Angles. More...

Detailed Description

Class of a motion frame.

Attention

The firmware backs up memory allocation of an instance to external EEPROM, so if you change the order of member instances, PLEN does not work properly if you did not re-install all motions.

Member Enumeration Documentation

anonymous enum

Enumerator
UPDATE_INTERVAL_MS	Update interval between frames. See also Refer to ISR(TIMER1_OVF_vect), in JointController.cpp.
FRAME_BEGIN	Beginning value of frames.
FRAME_END	Ending value of frames.

Member Function Documentation

static bool PLEN2::Motion::Frame::get ( uint8_t  slot, uint8_t  index, Frame &  frame  )

static

Read the frame from external EEPROM.

Parameters

[in]	slot	Slot number of a motion.
[in]	index	Index of the frame.
[in,out]	frame	An instance of frame.

Returns

Result

static void PLEN2::Motion::Frame::init ( Frame &  frame )

static

Initialize the frame.

Parameters

[in,out]

frame

An instance of frame.

static bool PLEN2::Motion::Frame::set ( uint8_t  slot, uint8_t  index, const Frame &  frame  )

static

Write the frame to external EEPROM.

Parameters

[in]	slot	Slot number of a motion.
[in]	index	Index of the frame.
[in]	frame	An instance of frame.

Returns

Result

Member Data Documentation

uint8_t PLEN2::Motion::Frame::index

Index of a frame.

int16_t PLEN2::Motion::Frame::joint_angle[JointController::JOINTS_SUM]

Angles.

uint16_t PLEN2::Motion::Frame::transition_time_ms

Time of transit to the frame.

---

The documentation for this class was generated from the following file:

• Motion.h