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

PWM.h@9:d9ce965299d2, 2012-09-22 (annotated)

Committer:
syundo0730
Date:
Sat Sep 22 06:16:15 2012 +0000
Revision:
9:d9ce965299d2
Child:
11:1539d181e159
play motion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 9:d9ce965299d2 1 #ifndef PWM_H_2012_08_28_
syundo0730 9:d9ce965299d2 2 #define PWM_H_2012_08_28_
syundo0730 9:d9ce965299d2 3
syundo0730 9:d9ce965299d2 4 #include "LPC17xx.h"
syundo0730 9:d9ce965299d2 5 #include "mbed.h"
syundo0730 9:d9ce965299d2 6
syundo0730 9:d9ce965299d2 7 const uint32_t SRV_PERIOD = 2500 - 1;//
syundo0730 9:d9ce965299d2 8 const uint32_t SRV_MAX_DUTY = 2100 - 1;//
syundo0730 9:d9ce965299d2 9 const uint32_t SRV_MIN_DUTY = 900 - 1;//
syundo0730 9:d9ce965299d2 10
syundo0730 9:d9ce965299d2 11 const uint8_t SRV_IDX_SHIFT = 3;//
syundo0730 9:d9ce965299d2 12 const uint8_t SRV_IDX_NUM = 1 << SRV_IDX_SHIFT;//
syundo0730 9:d9ce965299d2 13 const uint8_t SRV_IDX_MASK = SRV_IDX_NUM - 1;//
syundo0730 9:d9ce965299d2 14 const uint8_t SRV_BANK_NUM = 3;//
syundo0730 9:d9ce965299d2 15 const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;//
syundo0730 9:d9ce965299d2 16
syundo0730 9:d9ce965299d2 17 class PWM {
syundo0730 9:d9ce965299d2 18 public:
syundo0730 9:d9ce965299d2 19 PWM();
syundo0730 9:d9ce965299d2 20 public:
syundo0730 9:d9ce965299d2 21 void InitPWM();
syundo0730 9:d9ce965299d2 22 void SetDuty(uint8_t ch, uint32_t duty);
syundo0730 9:d9ce965299d2 23 public:
syundo0730 9:d9ce965299d2 24 static volatile uint8_t SRV_Idx;
syundo0730 9:d9ce965299d2 25 static volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];
syundo0730 9:d9ce965299d2 26 };
syundo0730 9:d9ce965299d2 27
syundo0730 9:d9ce965299d2 28 #ifdef __cplusplus
syundo0730 9:d9ce965299d2 29 extern "C" {
syundo0730 9:d9ce965299d2 30 void PWM1_IRQHandler();
syundo0730 9:d9ce965299d2 31 }
syundo0730 9:d9ce965299d2 32 #endif
syundo0730 9:d9ce965299d2 33
syundo0730 9:d9ce965299d2 34 #endif //PWM_H_2012_08_28_