Diff: Motions.cpp

Revision:

15:e37a8c413e51

Parent:

14:522bb06f0f0d

Child:

16:e65c192b7ecf

--- a/Motions.cpp	Thu Feb 21 14:27:19 2013 +0000
+++ b/Motions.cpp	Thu Feb 21 15:21:12 2013 +0000
@@ -9,6 +9,8 @@
 extern uint16_t data[0x2000] __attribute__((section("AHBSRAM1")));
 extern Ticker tick;
 
+bool g_motion_playing = false;
+
 //Serial serial(USBTX, USBRX);
 
 Motions::Motions(uint16_t* data)
@@ -70,17 +72,7 @@
     }
 }
 
-void Motions::play()
-{
-    if (playing) {
-        if (!inter->is_in_interrupt()) {
-            delete inter;
-            playing = false;
-        }
-    }
-}
-
-void Motions::setmotion(const int id)
+/*void Motions::setmotion(const int id)
 {
     if (!playing) {
         //serial.printf("start motion! id = %d \r\n", id);
@@ -88,21 +80,20 @@
         tick.attach(inter, &Motion::step, TIMESTEP);
         playing = true;
     }
-}
+}*/
 
-/*void Motions::setmotion(const int id)
+void Motions::setmotion(const int id)
 {
-    //if (inter == NULL) {
+    if (!g_motion_playing) {
         //serial.printf("start motion! id = %d \r\n", id);
         inter = new Motion(motions[id], pose_size[id], servo_size);
         tick.attach(inter, &Motion::step, TIMESTEP);
         playing = true;
-    //}
-}*/
+    }
+}
 
 void Motions::control()
 {
-    play();
     //int id = comu->getid();
     //serial.printf("id: %d \r\n", id);
     //if (checkid(id)) { //<- Misterious bug. Why is id starts from 48?