![](/media/cache/profiles/e5815151957be36ad2085b7a1a02c5cc.jpg.50x50_q85.jpg)
Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
main.cpp@13:711f74b2fa33, 2013-02-03 (annotated)
- Committer:
- syundo0730
- Date:
- Sun Feb 03 21:22:21 2013 +0000
- Revision:
- 13:711f74b2fa33
- Parent:
- 12:6cd135bf03bd
- Child:
- 14:522bb06f0f0d
play motion by signal from serial port
Who changed what in which revision?
User | Revision | Line number | New 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 | 13:711f74b2fa33 | 8 | |
syundo0730 | 8:72b4a248d469 | 9 | int main(void) |
syundo0730 | 8:72b4a248d469 | 10 | { |
syundo0730 | 13:711f74b2fa33 | 11 | /*unsigned short int size_x = 25; //max about 25kb |
syundo0730 | 13:711f74b2fa33 | 12 | unsigned short int size_y = 5; |
syundo0730 | 0:d114194bff43 | 13 | |
syundo0730 | 11:1539d181e159 | 14 | uint16_t **array = new uint16_t*[size_x]; |
syundo0730 | 12:6cd135bf03bd | 15 | for (int i = 0; i < size_y; ++i) { |
syundo0730 | 12:6cd135bf03bd | 16 | array[i] = new uint16_t[size_x]; |
syundo0730 | 12:6cd135bf03bd | 17 | } |
syundo0730 | 12:6cd135bf03bd | 18 | for (int i = 0; i < size_y; ++i) { |
syundo0730 | 12:6cd135bf03bd | 19 | for (int j = 0; j < size_x; ++j) { |
syundo0730 | 13:711f74b2fa33 | 20 | array[i][j] = 900 + 200*i; |
syundo0730 | 12:6cd135bf03bd | 21 | } |
syundo0730 | 12:6cd135bf03bd | 22 | } |
syundo0730 | 12:6cd135bf03bd | 23 | for (int i = 0; i < size_y; ++i) { |
syundo0730 | 13:711f74b2fa33 | 24 | array[i][size_x - 1] = 50; |
syundo0730 | 12:6cd135bf03bd | 25 | } |
syundo0730 | 9:d9ce965299d2 | 26 | |
syundo0730 | 13:711f74b2fa33 | 27 | Motion inter0(array, size_y, size_x);*/ |
syundo0730 | 12:6cd135bf03bd | 28 | |
syundo0730 | 13:711f74b2fa33 | 29 | Motions motions(data); |
syundo0730 | 13:711f74b2fa33 | 30 | //motions.setmotion(0); |
syundo0730 | 1:5c2e40445778 | 31 | |
syundo0730 | 5:0ca9f1bc1fb0 | 32 | while (1) { |
syundo0730 | 13:711f74b2fa33 | 33 | motions.control(); |
syundo0730 | 13:711f74b2fa33 | 34 | //if (!inter0.is_in_interrupt()) { |
syundo0730 | 13:711f74b2fa33 | 35 | //tick.attach(&inter0, &Motion::step, 0.02); |
syundo0730 | 13:711f74b2fa33 | 36 | //} |
syundo0730 | 13:711f74b2fa33 | 37 | wait(0.05); |
syundo0730 | 5:0ca9f1bc1fb0 | 38 | } |
syundo0730 | 10:be8b10e54ecb | 39 | } |