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

Source3.cpp@7:7c0621d33781, 2012-09-18 (annotated)

Committer:
syundo0730
Date:
Tue Sep 18 16:16:23 2012 +0000
Revision:
7:7c0621d33781
Parent:
5:0ca9f1bc1fb0 
multi file

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 7:7c0621d33781 3 #include "pwm.h"
syundo0730 0:d114194bff43 4
syundo0730 7:7c0621d33781 5 Ticker flip;
syundo0730 5:0ca9f1bc1fb0 6 void main_th(void);
syundo0730 0:d114194bff43 7
syundo0730 7:7c0621d33781 8 extern volatile uint8_t SRV_Idx;
syundo0730 7:7c0621d33781 9 extern volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];
syundo0730 5:0ca9f1bc1fb0 10
syundo0730 0:d114194bff43 11 int main(void) {
syundo0730 0:d114194bff43 12
syundo0730 0:d114194bff43 13 for(int i = 0; i < SRV_CH_NUM; i++)
syundo0730 0:d114194bff43 14 {
syundo0730 0:d114194bff43 15 SetDuty(i, (SRV_MAX_DUTY + SRV_MIN_DUTY) / 2);
syundo0730 0:d114194bff43 16 }
syundo0730 0:d114194bff43 17
syundo0730 1:5c2e40445778 18 Init_PWM();
syundo0730 5:0ca9f1bc1fb0 19 flip.attach(&main_th,5.0);
syundo0730 1:5c2e40445778 20
syundo0730 5:0ca9f1bc1fb0 21 while (1) {
syundo0730 5:0ca9f1bc1fb0 22 //SetDuty(1,SRV_MAX_DUTY);
syundo0730 5:0ca9f1bc1fb0 23 //sleep();
syundo0730 5:0ca9f1bc1fb0 24 }
syundo0730 5:0ca9f1bc1fb0 25 }
syundo0730 5:0ca9f1bc1fb0 26
syundo0730 5:0ca9f1bc1fb0 27 void main_th(void) {
syundo0730 5:0ca9f1bc1fb0 28 SetDuty(1,0);
syundo0730 0:d114194bff43 29 }