hexapod-robot/2011-firefly-mega-ssc32/firmware/2012-behaviours-wip/FireFly/Gedrags_Classen.cpp

//Gedrags classen,

#ifndef GCC
#define GCC

#include "hexapod.h"

//    LAYOUT
//      _U_
//  0==/   \==3
//     >***<
// 1===|---|===4
//     >***<
//  2==\___/==5

class WalkForward	//Direction
{

private:
  DataObject LoopPatroon[8];
  DataObject HuidigePositie;
  hexapod *FireFly;

  //Startup VARIABLES
  void init(hexapod *pntr)
  {
    LoopPatroon[0](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
    LoopPatroon[1](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
    LoopPatroon[2](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
    LoopPatroon[3](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
    LoopPatroon[4](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
    LoopPatroon[5](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
    LoopPatroon[6](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);
    LoopPatroon[7](0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 800);

    FireFly = pntr;
  }
  
  void send(DataObject pntr)
  {
    FireFly->CoreSend(&pntr);
  }


public:
  void Run()
  {
    //Start runnning code until exit or expection raises.
    send(LoopPatroon[0]);//Test
  }

};

#endif