Diff: Motions.cpp

Revision:

18:7077bedc37eb

Parent:

17:60de3bfdc70b

Child:

19:c2ec475367aa

--- a/Motions.cpp	Tue Apr 02 04:19:09 2013 +0000
+++ b/Motions.cpp	Wed Apr 03 04:56:13 2013 +0000
@@ -7,7 +7,7 @@
 
 //detach may be better to controled from Motions class
 
-Motions::Motions(uint16_t* data)
+Motions::Motions(uint16_t* data) : playing(false)
 {
     pwm = new PWM();
     //comu = new SCI(p28, p27);
@@ -19,8 +19,6 @@
     read("/local/motion.csv", data);
     set(data);
     
-    playing = false;
-    
     // Motion 0 is Home position
     setmotion(0);
 }
@@ -74,10 +72,10 @@
 void Motions::setmotion(const int id)
 {
     if (!playing) {
-        offline = new Motion(motions[id], pose_size[id], servo_size, pwm, &playing);
-        tick.attach(offline, &Motion::step, TIMESTEP);
-        //online = new OnlineMotion(1.0, TIMESTEP, servo_size, pwm, &playing);
-        //tick.attach(online, &OnlineMotion::step, TIMESTEP);
+        //offline = new Motion(motions[id], pose_size[id], servo_size, pwm, &playing);
+        //tick.attach(offline, &Motion::step, TIMESTEP);
+        online = new OnlineMotion(1.0, TIMESTEP, servo_size, pwm, &playing);
+        tick.attach(online, &OnlineMotion::step, TIMESTEP);
     }
 }