![](/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:
- 13:711f74b2fa33
- Parent:
- 12:6cd135bf03bd
- Child:
- 14:522bb06f0f0d
--- a/main.cpp Sun Feb 03 04:53:44 2013 +0000 +++ b/main.cpp Sun Feb 03 21:22:21 2013 +0000 @@ -5,10 +5,11 @@ 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 = 400; + /*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) { @@ -16,25 +17,23 @@ } for (int i = 0; i < size_y; ++i) { for (int j = 0; j < size_x; ++j) { - array[i][j] = 900 + 2*i; + array[i][j] = 900 + 200*i; } } for (int i = 0; i < size_y; ++i) { - array[i][size_x - 1] = 1; + array[i][size_x - 1] = 50; } - Motion inter0(array, size_y, size_x); - //int data[256]; - //CSV csv; - //csv.readCSV("data.csv", data); + Motion inter0(array, size_y, size_x);*/ - //Motions motions(data); + Motions motions(data); + //motions.setmotion(0); while (1) { - //motions.control(); - if (!inter0.is_in_interrupt()) { - tick.attach(&inter0, &Motion::step, 0.02); - } - wait(5); + motions.control(); + //if (!inter0.is_in_interrupt()) { + //tick.attach(&inter0, &Motion::step, 0.02); + //} + wait(0.05); } } \ No newline at end of file