Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

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

Diff: Motion.cpp

Revision:
13:711f74b2fa33
Parent:
12:6cd135bf03bd
Child:
14:522bb06f0f0d
diff -r 6cd135bf03bd -r 711f74b2fa33 Motion.cpp
--- a/Motion.cpp	Sun Feb 03 04:53:44 2013 +0000
+++ b/Motion.cpp	Sun Feb 03 21:22:21 2013 +0000
@@ -2,11 +2,11 @@
 #include "PWM.h"
 
 extern Ticker tick;
-PWM pwm;
+//PWM pwm;
 
 Motion::Motion(uint16_t** data, unsigned short int size_idx, unsigned char size_num)
 {
-    //pwm = new PWM();
+    pwm = new PWM();
     
     m_data = data;
     
@@ -33,7 +33,7 @@
 
 Motion::~Motion()
 {
-    //delete pwm;
+    delete pwm;
 }
 
 void Motion::step()
@@ -101,8 +101,7 @@
         m_dd_buf[i] = 0.0;
         
         __disable_irq();
-        //pwm->SetDuty(i, (uint32_t)m_buf[i]);
-        pwm.SetDuty(i, (uint32_t)m_buf[i]);
+        pwm->SetDuty(i, (uint32_t)m_buf[i]);
         __enable_irq();
     }
     m_brake_flg = 0.0;
@@ -118,8 +117,7 @@
         m_buf[i] += m_d_buf[i];
         
         __disable_irq();
-        //pwm->SetDuty(i, (uint32_t)m_buf[i]);
-        pwm.SetDuty(i, (uint32_t)m_buf[i]);
+        pwm->SetDuty(i, (uint32_t)m_buf[i]);
         __enable_irq();
     }
 }