![](/media/cache/profiles/e5815151957be36ad2085b7a1a02c5cc.jpg.50x50_q85.jpg)
Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Diff: Motion/OnlineMotion.cpp
- Revision:
- 22:bf5aa20b9df0
- Parent:
- 21:a54bcab078ed
diff -r a54bcab078ed -r bf5aa20b9df0 Motion/OnlineMotion.cpp --- a/Motion/OnlineMotion.cpp Wed Sep 04 03:59:40 2013 +0000 +++ b/Motion/OnlineMotion.cpp Fri Sep 06 08:36:21 2013 +0000 @@ -98,16 +98,16 @@ invertkinematics(rpos, rtheta); uint32_t pos[] = { - HOMEPOS[0] + ltheta[0], - HOMEPOS[1] - ltheta[1], - HOMEPOS[2] - ltheta[2], - HOMEPOS[3] + ltheta[3], - HOMEPOS[4] + ltheta[0], - HOMEPOS[5] + rtheta[0], - HOMEPOS[6] + rtheta[1], - HOMEPOS[7] + rtheta[2], - HOMEPOS[8] - rtheta[3], - HOMEPOS[9] + rtheta[0], + HOMEPOS[0] + rtheta[0], + HOMEPOS[1] + rtheta[1], + HOMEPOS[2] + rtheta[2], + HOMEPOS[3] - rtheta[3], + HOMEPOS[4] + rtheta[0], + HOMEPOS[5] + ltheta[0], + HOMEPOS[6] - ltheta[1], + HOMEPOS[7] - ltheta[2], + HOMEPOS[8] + ltheta[3], + HOMEPOS[9] + ltheta[0], HOMEPOS[10], HOMEPOS[11], HOMEPOS[12], @@ -124,9 +124,9 @@ HOMEPOS[23] }; + __disable_irq(); for (int i = 0; i < m_NUM_MAX; ++i) { - __disable_irq(); pwm->setDuty(i, pos[i]); - __enable_irq(); } + __enable_irq(); } \ No newline at end of file