![](/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@16:e65c192b7ecf, 2013-02-27 (annotated)
- Committer:
- syundo0730
- Date:
- Wed Feb 27 12:32:44 2013 +0000
- Revision:
- 16:e65c192b7ecf
- Parent:
- 15:e37a8c413e51
- Child:
- 17:60de3bfdc70b
ROBO-ONE 22th version
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 | 15:e37a8c413e51 | 4 | #include "PWM.h" |
syundo0730 | 0:d114194bff43 | 5 | |
syundo0730 | 12:6cd135bf03bd | 6 | uint16_t data[0x2000] __attribute__((section("AHBSRAM1"))); //motion data area |
syundo0730 | 12:6cd135bf03bd | 7 | Ticker tick; //Ticker for main control roop |
syundo0730 | 5:0ca9f1bc1fb0 | 8 | |
syundo0730 | 8:72b4a248d469 | 9 | int main(void) |
syundo0730 | 16:e65c192b7ecf | 10 | { |
syundo0730 | 13:711f74b2fa33 | 11 | Motions motions(data); |
syundo0730 | 15:e37a8c413e51 | 12 | |
syundo0730 | 16:e65c192b7ecf | 13 | // Motion 0 is Home position |
syundo0730 | 16:e65c192b7ecf | 14 | motions.setmotion(0); |
syundo0730 | 16:e65c192b7ecf | 15 | |
syundo0730 | 5:0ca9f1bc1fb0 | 16 | while (1) { |
syundo0730 | 13:711f74b2fa33 | 17 | motions.control(); |
syundo0730 | 16:e65c192b7ecf | 18 | wait(0.02); |
syundo0730 | 5:0ca9f1bc1fb0 | 19 | } |
syundo0730 | 10:be8b10e54ecb | 20 | } |