Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

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Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

Diff: Motion.cpp

Revision:
12:6cd135bf03bd
Parent:
11:1539d181e159
Child:
13:711f74b2fa33
--- a/Motion.cpp	Sat Sep 22 10:24:14 2012 +0000
+++ b/Motion.cpp	Sun Feb 03 04:53:44 2013 +0000
@@ -1,18 +1,18 @@
 #include "Motion.h"
 #include "PWM.h"
 
-extern PWM pwm;
 extern Ticker tick;
+PWM pwm;
 
 Motion::Motion(uint16_t** data, unsigned short int size_idx, unsigned char size_num)
 {
+    //pwm = new PWM();
+    
     m_data = data;
     
-    //data size
     m_IDX_MAX = size_idx;
-    m_NUM_MAX = size_num -1;
-    
-    //interpolate num
+    m_NUM_MAX = size_num - 1;
+ 
     for(int i = 0; i < m_IDX_MAX; ++i) {
         m_data_num[i] = data[i][m_NUM_MAX];
     }
@@ -20,7 +20,6 @@
     m_mode = 1;
     m_in_interrupt = false;
     
-    //zero clear
     m_idx = 0;
     m_play = 0;
     
@@ -32,6 +31,11 @@
     m_brake_flg = 0.0;
 }
 
+Motion::~Motion()
+{
+    //delete pwm;
+}
+
 void Motion::step()
 {
     if (m_idx < m_IDX_MAX - 1) {
@@ -97,6 +101,7 @@
         m_dd_buf[i] = 0.0;
         
         __disable_irq();
+        //pwm->SetDuty(i, (uint32_t)m_buf[i]);
         pwm.SetDuty(i, (uint32_t)m_buf[i]);
         __enable_irq();
     }
@@ -113,6 +118,7 @@
         m_buf[i] += m_d_buf[i];
         
         __disable_irq();
+        //pwm->SetDuty(i, (uint32_t)m_buf[i]);
         pwm.SetDuty(i, (uint32_t)m_buf[i]);
         __enable_irq();
     }