Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Diff: PWM.cpp
- Revision:
- 11:1539d181e159
- Parent:
- 9:d9ce965299d2
- Child:
- 16:e65c192b7ecf
diff -r be8b10e54ecb -r 1539d181e159 PWM.cpp --- a/PWM.cpp Sat Sep 22 06:58:21 2012 +0000 +++ b/PWM.cpp Sat Sep 22 10:24:14 2012 +0000 @@ -53,13 +53,7 @@ } void PWM1_IRQHandler (void) -{ - const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM] = { - {0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD}, - {0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD}, - {0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD} - }; - +{ LPC_PWM1->MR1 = SRV_PWMTable[0][PWM::SRV_Idx]; LPC_PWM1->MR2 = SRV_PWMTable[1][PWM::SRV_Idx]; LPC_PWM1->MR3 = SRV_PWMTable[2][PWM::SRV_Idx];