Diff: Motion/OnlineMotion.h

Revision:

21:a54bcab078ed

Parent:

20:abb7852df747

diff -r abb7852df747 -r a54bcab078ed Motion/OnlineMotion.h
--- a/Motion/OnlineMotion.h	Mon Aug 19 08:10:58 2013 +0000
+++ b/Motion/OnlineMotion.h	Wed Sep 04 03:59:40 2013 +0000
@@ -6,16 +6,16 @@
 #include "LPC17xx.h"
 #include "mbed.h"
 #include "PWM.h"
+#include "Adafruit_PWMServoDriver.h"
 //#include "Motion.h"
 
-const float RADTOVAL = (SRV_MAX_DUTY - SRV_MIN_DUTY) / 3.14159265;
 
 const float M_PI = 3.14159265;
 
 class OnlineMotion //: public Motion
 {
   public:
-    OnlineMotion(float _T, float _TIMESTEP, unsigned char _size_num, PWM* _pwm, bool* _playing);
+    OnlineMotion(float _T, float _TIMESTEP, unsigned char _size_num, Adafruit_PWMServoDriver* _pwm, bool* _playing);
     ~OnlineMotion();
   public:
     void step();
@@ -26,7 +26,8 @@
     void walk(float* lpos, float* rpos, float h, float stride, float side, float up);
     
   private:
-    PWM* pwm;
+    Adafruit_PWMServoDriver* pwm;
+    //PWM* pwm;
     unsigned char m_NUM_MAX;
     bool* playing;
     volatile float t;