Diff: Motions.cpp

Revision:

19:c2ec475367aa

Parent:

18:7077bedc37eb

--- a/Motions.cpp	Wed Apr 03 04:56:13 2013 +0000
+++ b/Motions.cpp	Sun Apr 07 06:59:33 2013 +0000
@@ -39,6 +39,7 @@
     CSV csv;
     pose_size = new int;
     csv.read(filename, data, &servo_size, &motion_size, pose_size);
+    //readMotion(filename, data, servo_size, motion_size, pose_size); // not so good at speed and has bug in handling float motion value.
 }
 
 void Motions::set(uint16_t* data)
@@ -72,10 +73,10 @@
 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(3.0, TIMESTEP, servo_size, pwm, &playing);
+        //tick.attach(online, &OnlineMotion::step, TIMESTEP);
     }
 }