Revision 14:522bb06f0f0d, committed 2013-02-21

Comitter:

syundo0730

Date:

Thu Feb 21 14:27:19 2013 +0000

Parent:

13:711f74b2fa33

Child:

15:e37a8c413e51

Commit message:

suicide

Changed in this revision

--- a/Motion.cpp	Sun Feb 03 21:22:21 2013 +0000
+++ b/Motion.cpp	Thu Feb 21 14:27:19 2013 +0000
@@ -2,12 +2,14 @@
 #include "PWM.h"
 
 extern Ticker tick;
-//PWM pwm;
+DigitalOut led1(LED1);
 
 Motion::Motion(uint16_t** data, unsigned short int size_idx, unsigned char size_num)
 {
     pwm = new PWM();
     
+    led1 = 1;
+    
     m_data = data;
     
     m_IDX_MAX = size_idx;
@@ -34,6 +36,7 @@
 Motion::~Motion()
 {
     delete pwm;
+    led1 = 0;
 }
 
 void Motion::step()
@@ -46,6 +49,7 @@
         m_idx = 0;
         m_play = 0;
         tick.detach();
+        //delete this;
     }
 }
 

--- a/Motions.cpp	Sun Feb 03 21:22:21 2013 +0000
+++ b/Motions.cpp	Thu Feb 21 14:27:19 2013 +0000
@@ -85,18 +85,29 @@
     if (!playing) {
         //serial.printf("start motion! id = %d \r\n", id);
         inter = new Motion(motions[id], pose_size[id], servo_size);
-        tick.attach(inter, &Motion::step, 0.02);
+        tick.attach(inter, &Motion::step, TIMESTEP);
         playing = true;
     }
 }
 
+/*void Motions::setmotion(const int id)
+{
+    //if (inter == NULL) {
+        //serial.printf("start motion! id = %d \r\n", id);
+        inter = new Motion(motions[id], pose_size[id], servo_size);
+        tick.attach(inter, &Motion::step, TIMESTEP);
+        playing = true;
+    //}
+}*/
+
 void Motions::control()
 {
     play();
-    int id = comu->getid();
+    //int id = comu->getid();
     //serial.printf("id: %d \r\n", id);
-    if (checkid(id)) { //<- Misterious bug. Why is id starts from 48?
-        setmotion(id);
-    }
+    //if (checkid(id)) { //<- Misterious bug. Why is id starts from 48?
+        //setmotion(id);
+        setmotion(0);
+    //}
     
 }
\ No newline at end of file

--- a/Motions.h	Sun Feb 03 21:22:21 2013 +0000
+++ b/Motions.h	Thu Feb 21 14:27:19 2013 +0000
@@ -6,6 +6,8 @@
 #include "SCI.h"
 #include <string>
 
+const float TIMESTEP = 0.02;
+
 class Motions
 {
   public:

--- a/SCI.cpp	Sun Feb 03 21:22:21 2013 +0000
+++ b/SCI.cpp	Thu Feb 21 14:27:19 2013 +0000
@@ -30,7 +30,7 @@
 char SCI::getc_wait()
 {
     while (!serial->readable()) {
-        //serial->printf("waiting..");
+        serial->printf("waiting..");
     }
     char val = serial->getc();
     return val;

--- a/main.cpp	Sun Feb 03 21:22:21 2013 +0000
+++ b/main.cpp	Thu Feb 21 14:27:19 2013 +0000
@@ -5,35 +5,12 @@
 uint16_t data[0x2000] __attribute__((section("AHBSRAM1"))); //motion data area
 Ticker tick;    //Ticker for main control roop
 
-
 int main(void)
 {  
-    /*unsigned short int size_x = 25;    //max about 25kb
-    unsigned short int size_y = 5;
-    
-    uint16_t **array = new uint16_t*[size_x];
-    for (int i = 0; i < size_y; ++i) {
-        array[i] = new uint16_t[size_x];
-    }
-    for (int i = 0; i < size_y; ++i) {
-        for (int j = 0; j < size_x; ++j) {
-            array[i][j] = 900 + 200*i;
-        }
-    }
-    for (int i = 0; i < size_y; ++i) {
-        array[i][size_x - 1] = 50;
-    }
-    
-    Motion inter0(array, size_y, size_x);*/
-    
     Motions motions(data);
-    //motions.setmotion(0);
-    
+    //motions.control();
     while (1) {
         motions.control();
-        //if (!inter0.is_in_interrupt()) {
-            //tick.attach(&inter0, &Motion::step, 0.02);
-        //}
         wait(0.05);
     }
 }
\ No newline at end of file