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

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

Committer:
syundo0730
Date:
Sun Feb 03 04:53:44 2013 +0000
Revision:
12:6cd135bf03bd
Parent:
11:1539d181e159
Child:
13:711f74b2fa33
file reading, motion selecting, serial communication

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 0:d114194bff43 1 #include "LPC17xx.h"
syundo0730 0:d114194bff43 2 #include "mbed.h"
syundo0730 12:6cd135bf03bd 3 #include "Motions.h"
syundo0730 0:d114194bff43 4
syundo0730 12:6cd135bf03bd 5 uint16_t data[0x2000] __attribute__((section("AHBSRAM1"))); //motion data area
syundo0730 12:6cd135bf03bd 6 Ticker tick; //Ticker for main control roop
syundo0730 5:0ca9f1bc1fb0 7
syundo0730 8:72b4a248d469 8 int main(void)
syundo0730 8:72b4a248d469 9 {
syundo0730 12:6cd135bf03bd 10 unsigned short int size_x = 25; //max about 25kb
syundo0730 12:6cd135bf03bd 11 unsigned short int size_y = 400;
syundo0730 0:d114194bff43 12
syundo0730 11:1539d181e159 13 uint16_t **array = new uint16_t*[size_x];
syundo0730 12:6cd135bf03bd 14 for (int i = 0; i < size_y; ++i) {
syundo0730 12:6cd135bf03bd 15 array[i] = new uint16_t[size_x];
syundo0730 12:6cd135bf03bd 16 }
syundo0730 12:6cd135bf03bd 17 for (int i = 0; i < size_y; ++i) {
syundo0730 12:6cd135bf03bd 18 for (int j = 0; j < size_x; ++j) {
syundo0730 12:6cd135bf03bd 19 array[i][j] = 900 + 2*i;
syundo0730 12:6cd135bf03bd 20 }
syundo0730 12:6cd135bf03bd 21 }
syundo0730 12:6cd135bf03bd 22 for (int i = 0; i < size_y; ++i) {
syundo0730 12:6cd135bf03bd 23 array[i][size_x - 1] = 1;
syundo0730 12:6cd135bf03bd 24 }
syundo0730 9:d9ce965299d2 25
syundo0730 12:6cd135bf03bd 26 Motion inter0(array, size_y, size_x);
syundo0730 12:6cd135bf03bd 27 //int data[256];
syundo0730 12:6cd135bf03bd 28 //CSV csv;
syundo0730 12:6cd135bf03bd 29 //csv.readCSV("data.csv", data);
syundo0730 12:6cd135bf03bd 30
syundo0730 12:6cd135bf03bd 31 //Motions motions(data);
syundo0730 1:5c2e40445778 32
syundo0730 5:0ca9f1bc1fb0 33 while (1) {
syundo0730 12:6cd135bf03bd 34 //motions.control();
syundo0730 10:be8b10e54ecb 35 if (!inter0.is_in_interrupt()) {
syundo0730 10:be8b10e54ecb 36 tick.attach(&inter0, &Motion::step, 0.02);
syundo0730 10:be8b10e54ecb 37 }
syundo0730 12:6cd135bf03bd 38 wait(5);
syundo0730 5:0ca9f1bc1fb0 39 }
syundo0730 10:be8b10e54ecb 40 }