![](/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: Motion/OnlineMotion.h
- Revision:
- 21:a54bcab078ed
- Parent:
- 20:abb7852df747
--- a/Motion/OnlineMotion.h Mon Aug 19 08:10:58 2013 +0000 +++ b/Motion/OnlineMotion.h Wed Sep 04 03:59:40 2013 +0000 @@ -6,16 +6,16 @@ #include "LPC17xx.h" #include "mbed.h" #include "PWM.h" +#include "Adafruit_PWMServoDriver.h" //#include "Motion.h" -const float RADTOVAL = (SRV_MAX_DUTY - SRV_MIN_DUTY) / 3.14159265; const float M_PI = 3.14159265; class OnlineMotion //: public Motion { public: - OnlineMotion(float _T, float _TIMESTEP, unsigned char _size_num, PWM* _pwm, bool* _playing); + OnlineMotion(float _T, float _TIMESTEP, unsigned char _size_num, Adafruit_PWMServoDriver* _pwm, bool* _playing); ~OnlineMotion(); public: void step(); @@ -26,7 +26,8 @@ void walk(float* lpos, float* rpos, float h, float stride, float side, float up); private: - PWM* pwm; + Adafruit_PWMServoDriver* pwm; + //PWM* pwm; unsigned char m_NUM_MAX; bool* playing; volatile float t;