Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.

Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

main.cpp

Committer:
syundo0730
Date:
2012-09-22
Revision:
9:d9ce965299d2
Parent:
8:72b4a248d469
Child:
10:be8b10e54ecb

File content as of revision 9:d9ce965299d2:

#include "LPC17xx.h"
#include "mbed.h"
#include "PWM.h"
#include "Motion.h"

Ticker tick;
PWM pwm;

int main(void)
{  
    unsigned char size_x = 4, size_y = 24;
    
    uint32_t **array = new uint32_t*[size_x];
	for (int i = 0; i < size_x; ++i) {
		array[i] = new uint32_t[size_y];
	}
	for (int i = 0; i < size_x; ++i) {
	    for (int j = 0; j < size_y; ++j) {
	        array[i][j] = 900 + 300 * i;
	    }
	}
	array[0][size_y - 1] = 50;
	array[1][size_y - 1] = 50;
	array[2][size_y - 1] = 50;
	array[3][size_y - 1] = 50;
	
    Motion inter0(array, size_x, size_y);
    
    tick.attach(&inter0, &Motion::step, 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;
}*/