Bon suite à ce sujet j'ai modifié mon programme en suivant les conseils de Cocothebo.
Dans ma fonction Kinematic(), je passe donc les paramètres par valeur à l'exception des tableaux, mais c'est légèrement plus lisible.
Pour le tableau SrvAdjust[], l'écriture est nettement plus lisible, mais je n'ai pas réussi le passage par valeur.
Par contre pour le tableau Tab1[][] qui est en 2 dimensions, là je dois avouer que je n'ai pas réussi du tout.
J'ai un peu chercher et visiblement, je ne suis pas le seul à avoir ce problème.
Spoiler
/* This program tests the simultaneous kinematic of several servos - by Oracid. 16/01/2019 */
#include <Servo.h>
Servo mySrv[8]; // Indicate how many servos. Here 8 servos.
const int nbFeet = 11; // Indicate here the number of feet of each line of the table bellow. Here 11.
int Speed = 1300; // Indicate here, in microseconds the waiting time for velocity. Here 1300.
const int nbSrv = sizeof(mySrv)/sizeof(Servo);
// quadruped forward v3
int Tab1[nbSrv][nbFeet]={ {110,100, 90, 80, 70, 60, 70, 80, 90,100,110}, // Indicate value angles of kinematic for each servo.
{ 70, 80, 90,100,110,120,110,100, 90, 80, 70}, // one ligne for on servo. First and last value must be equal
{110,100, 90, 80, 70, 60, 70, 80, 90,100,110}, // Number of lignes must be equal to number of servos
{ 70, 80, 90,100,110,120,110,100, 90, 80, 70}, // the foot must always be the same (here 10)
{ 60, 60, 60, 60, 60, 80, 80, 80, 80, 80, 60}, // if servo don't move, duplicate value
{100,100,100,100,100,120,120,120,120,120,100},
{100,100,100,100,100,120,120,120,120,120,100},
{ 60, 60, 60, 60, 60, 80, 80, 80, 80, 80, 60}};
int lgTab = sizeof(Tab1[1])/sizeof(int);
int Foot = abs(Tab1[0][0]-Tab1[0][1]);
int SrvAdjust[nbSrv]={ 0, 5, 0, 9, 0, 2, -2, 8 }; // each servo need an adjustement position
int LeftRight=1;
void setup() {
// Serial.begin(9600); // uncomment out if debug
// Serial.print("nbSrv = ");Serial.print(nbSrv);Serial.print(" lgTabl = ");Serial.print(lgTabl);Serial.print(" Foot = ");Serial.print(Foot);Serial.print(" Speed = ");Serial.println(Speed);
mySrv[0].attach(8); // servos attachments to Arduino outputs
mySrv[1].attach(9);
mySrv[2].attach(10);
mySrv[3].attach(3);
mySrv[4].attach(4);
mySrv[5].attach(5);
mySrv[6].attach(6);
mySrv[7].attach(7);
// Kinematic(lgTab, Tab1[0], nbSrv, Speed, Foot, SrvAdjust ); // uncomment out to test only one cycle
}
void loop() {
Kinematic(lgTab, Tab1[0], nbSrv, Speed, Foot, SrvAdjust ); // comment to test only one cycle
}
void Kinematic(int lg, int *tb, int nsrv, int vel, int foot, int *srvadjust){
int pos, srv, stp;
for( int i=0; i < (lg-1); i++){ // loop on the first line of the table
for( stp = 0; stp < foot; stp++){ // loop on the step between two table values, here 10
for(srv = 0; srv < nsrv; srv++){ // loop on the number of servos
if ( *(tb+(srv*lg)+i) >= *(tb+(srv*lg)+i+1) ){ pos=(*(tb+(srv*lg)+i))*(-1)+stp; } // if current value is bigger than the next
else { pos=(*(tb+(srv*lg)+i))+stp; } // then pos is multiply by -1 so it can be incremanted to the next value
if ( *(tb+(srv*lg)+i) == *(tb+(srv*lg)+i+1) ){ pos=(*(tb+(srv*lg)+i)); } // if current and next value are equal then pos keep value
mySrv[srv].write(abs(pos+srvadjust[srv])); // abs(pos) because when negative value
// Serial.print("Tabl=");Serial.print(i);Serial.print(" srv=");Serial.print(srv);Serial.print(" pos=");Serial.println(abs(pos+srvadjust[srv]));
delayMicroseconds(vel);
}
}
}
}
)
