![](/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
Diff: main.cpp
- Revision:
- 14:522bb06f0f0d
- Parent:
- 13:711f74b2fa33
- Child:
- 15:e37a8c413e51
--- a/main.cpp Sun Feb 03 21:22:21 2013 +0000 +++ b/main.cpp Thu Feb 21 14:27:19 2013 +0000 @@ -5,35 +5,12 @@ uint16_t data[0x2000] __attribute__((section("AHBSRAM1"))); //motion data area Ticker tick; //Ticker for main control roop - int main(void) { - /*unsigned short int size_x = 25; //max about 25kb - unsigned short int size_y = 5; - - uint16_t **array = new uint16_t*[size_x]; - for (int i = 0; i < size_y; ++i) { - array[i] = new uint16_t[size_x]; - } - for (int i = 0; i < size_y; ++i) { - for (int j = 0; j < size_x; ++j) { - array[i][j] = 900 + 200*i; - } - } - for (int i = 0; i < size_y; ++i) { - array[i][size_x - 1] = 50; - } - - Motion inter0(array, size_y, size_x);*/ - Motions motions(data); - //motions.setmotion(0); - + //motions.control(); while (1) { motions.control(); - //if (!inter0.is_in_interrupt()) { - //tick.attach(&inter0, &Motion::step, 0.02); - //} wait(0.05); } } \ No newline at end of file