![](/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
main.cpp
- Committer:
- syundo0730
- Date:
- 2012-09-21
- Revision:
- 8:72b4a248d469
- Parent:
- Source3.cpp@ 7:7c0621d33781
- Child:
- 9:d9ce965299d2
File content as of revision 8:72b4a248d469:
#include "LPC17xx.h" #include "mbed.h" #include "pwm.h" #include <cmath> #define M_PI 3.141592653589793238462643383279 void main_th(void); //PWM pwm; int main(void) { PWM pwm; Ticker flip; pwm.InitPWM(); flip.attach(&main_th,0.02); while (1) { //SetDuty(1,SRV_MAX_DUTY); //sleep(); //__enable_irq(); //__disable_irq(); //NVIC_DisableIRQ(PWM1_IRQn); } } 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; }