Diff: Controlor.cpp

Revision:

21:a54bcab078ed

Parent:

20:abb7852df747

Child:

22:bf5aa20b9df0

diff -r abb7852df747 -r a54bcab078ed Controlor.cpp
--- a/Controlor.cpp	Mon Aug 19 08:10:58 2013 +0000
+++ b/Controlor.cpp	Wed Sep 04 03:59:40 2013 +0000
@@ -5,11 +5,19 @@
 
 Ticker tick;
 
+const float TIMESTEP = 0.01;
+
+
 //detach may be better to controled from Controlor class
 
 Controlor::Controlor(uint16_t* data) : playing(false), attached(false)
 {
-    pwm = new PWM();
+    //pwm = new PWM();
+    pwm = new Adafruit_PWMServoDriver(p9, p10);
+    pwm->begin();
+    pwm->setPrescale(64);    //This value is decided for 10ms interval.
+    pwm->setI2Cfreq(400000); //400kHz
+    
     //comu = new SCI(p28, p27);
     comu = new SCI(USBTX, USBRX);
     
@@ -77,7 +85,7 @@
         attached = true;
         offline = new OfflineMotion(motions[id], pose_size[id], servo_size, pwm, &playing);
         tick.attach(offline, &OfflineMotion::step, TIMESTEP);
-        //online = new OnlineMotion(3.0, TIMESTEP, servo_size, pwm, &playing);
+        //online = new OnlineMotion(1.0, TIMESTEP, servo_size, pwm, &playing);
         //tick.attach(online, &OnlineMotion::step, TIMESTEP);
     //}
 }