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

Committer:
syundo0730
Date:
Sat Sep 22 06:16:15 2012 +0000
Revision:
9:d9ce965299d2
Parent:
8:72b4a248d469
Child:
10:be8b10e54ecb
play motion

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 9:d9ce965299d2 3 #include "PWM.h"
syundo0730 9:d9ce965299d2 4 #include "Motion.h"
syundo0730 0:d114194bff43 5
syundo0730 9:d9ce965299d2 6 Ticker tick;
syundo0730 9:d9ce965299d2 7 PWM pwm;
syundo0730 5:0ca9f1bc1fb0 8
syundo0730 8:72b4a248d469 9 int main(void)
syundo0730 8:72b4a248d469 10 {
syundo0730 9:d9ce965299d2 11 unsigned char size_x = 4, size_y = 24;
syundo0730 0:d114194bff43 12
syundo0730 9:d9ce965299d2 13 uint32_t **array = new uint32_t*[size_x];
syundo0730 9:d9ce965299d2 14 for (int i = 0; i < size_x; ++i) {
syundo0730 9:d9ce965299d2 15 array[i] = new uint32_t[size_y];
syundo0730 9:d9ce965299d2 16 }
syundo0730 9:d9ce965299d2 17 for (int i = 0; i < size_x; ++i) {
syundo0730 9:d9ce965299d2 18 for (int j = 0; j < size_y; ++j) {
syundo0730 9:d9ce965299d2 19 array[i][j] = 900 + 300 * i;
syundo0730 9:d9ce965299d2 20 }
syundo0730 9:d9ce965299d2 21 }
syundo0730 9:d9ce965299d2 22 array[0][size_y - 1] = 50;
syundo0730 9:d9ce965299d2 23 array[1][size_y - 1] = 50;
syundo0730 9:d9ce965299d2 24 array[2][size_y - 1] = 50;
syundo0730 9:d9ce965299d2 25 array[3][size_y - 1] = 50;
syundo0730 9:d9ce965299d2 26
syundo0730 9:d9ce965299d2 27 Motion inter0(array, size_x, size_y);
syundo0730 9:d9ce965299d2 28
syundo0730 9:d9ce965299d2 29 tick.attach(&inter0, &Motion::step, 0.02);
syundo0730 1:5c2e40445778 30
syundo0730 5:0ca9f1bc1fb0 31 while (1) {
syundo0730 5:0ca9f1bc1fb0 32 //SetDuty(1,SRV_MAX_DUTY);
syundo0730 5:0ca9f1bc1fb0 33 //sleep();
syundo0730 8:72b4a248d469 34 //__enable_irq();
syundo0730 8:72b4a248d469 35 //__disable_irq();
syundo0730 8:72b4a248d469 36 //NVIC_DisableIRQ(PWM1_IRQn);
syundo0730 5:0ca9f1bc1fb0 37 }
syundo0730 5:0ca9f1bc1fb0 38 }
syundo0730 5:0ca9f1bc1fb0 39
syundo0730 9:d9ce965299d2 40 /*void main_th(void) {
syundo0730 8:72b4a248d469 41 PWM pwm;
syundo0730 8:72b4a248d469 42 //const uint32_t center = 1500 - 1;
syundo0730 8:72b4a248d469 43 //const uint32_t dif = SRV_MAX_DUTY - center;
syundo0730 8:72b4a248d469 44 static uint8_t i;
syundo0730 8:72b4a248d469 45
syundo0730 8:72b4a248d469 46 __disable_irq();
syundo0730 8:72b4a248d469 47 pwm.SetDuty(1,SRV_MIN_DUTY+i);
syundo0730 8:72b4a248d469 48 __enable_irq();
syundo0730 8:72b4a248d469 49 ++i;
syundo0730 9:d9ce965299d2 50 }*/