Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Diff: main.cpp
- Revision:
- 10:be8b10e54ecb
- Parent:
- 9:d9ce965299d2
- Child:
- 11:1539d181e159
--- a/main.cpp Sat Sep 22 06:16:15 2012 +0000 +++ b/main.cpp Sat Sep 22 06:58:21 2012 +0000 @@ -26,25 +26,13 @@ Motion inter0(array, size_x, size_y); - tick.attach(&inter0, &Motion::step, 0.02); + //tick.attach(&inter0, &Motion::step, 0.02); while (1) { - //SetDuty(1,SRV_MAX_DUTY); - //sleep(); - //__enable_irq(); - //__disable_irq(); - //NVIC_DisableIRQ(PWM1_IRQn); + //int id = 0; + if (!inter0.is_in_interrupt()) { + tick.attach(&inter0, &Motion::step, 0.02); + } + wait(0.02); } -} - -/*void main_th(void) { - PWM pwm; - //const uint32_t center = 1500 - 1; - //const uint32_t dif = SRV_MAX_DUTY - center; - static uint8_t i; - - __disable_irq(); - pwm.SetDuty(1,SRV_MIN_DUTY+i); - __enable_irq(); - ++i; -}*/ \ No newline at end of file +} \ No newline at end of file