Revision 11:1539d181e159, committed 2012-09-22

Comitter:

syundo0730

Date:

Sat Sep 22 10:24:14 2012 +0000

Parent:

10:be8b10e54ecb

Child:

12:6cd135bf03bd

Commit message:

16bit version

Changed in this revision

--- a/Motion.cpp	Sat Sep 22 06:58:21 2012 +0000
+++ b/Motion.cpp	Sat Sep 22 10:24:14 2012 +0000
@@ -4,7 +4,7 @@
 extern PWM pwm;
 extern Ticker tick;
 
-Motion::Motion(uint32_t** data, unsigned char size_idx, unsigned char size_num)
+Motion::Motion(uint16_t** data, unsigned short int size_idx, unsigned char size_num)
 {
     m_data = data;
     

--- a/Motion.h	Sat Sep 22 06:58:21 2012 +0000
+++ b/Motion.h	Sat Sep 22 10:24:14 2012 +0000
@@ -7,7 +7,7 @@
 class Motion
 {
   public:
-    Motion(uint32_t** data, unsigned char size_idx, unsigned char size_num);
+    Motion(uint16_t** data, unsigned short int size_idx, unsigned char size_num);
     //~Motion();
   public:
     void step();
@@ -19,15 +19,15 @@
     void step_inter();
   
   private:
-    uint32_t** m_data;
-    unsigned char m_IDX_MAX;
+    uint16_t** m_data;
+    unsigned short int m_IDX_MAX;
     unsigned char m_NUM_MAX;
-    unsigned char m_data_num[16];  //inter
+    unsigned char m_data_num[500];  //inter
     unsigned char m_mode;
     bool m_in_interrupt;
   
   private:
-    unsigned char m_idx;
+    unsigned short int m_idx;
     unsigned char m_play;
   private:  
     double m_buf[25];              //buf

--- a/PWM.cpp	Sat Sep 22 06:58:21 2012 +0000
+++ b/PWM.cpp	Sat Sep 22 10:24:14 2012 +0000
@@ -53,13 +53,7 @@
 }
 
 void PWM1_IRQHandler (void)
-{
-    const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM] = {
-    {0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD},
-    {0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD},
-    {0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD}
-    };
-    
+{ 
     LPC_PWM1->MR1 = SRV_PWMTable[0][PWM::SRV_Idx];
     LPC_PWM1->MR2 = SRV_PWMTable[1][PWM::SRV_Idx];
     LPC_PWM1->MR3 = SRV_PWMTable[2][PWM::SRV_Idx];

--- a/PWM.h	Sat Sep 22 06:58:21 2012 +0000
+++ b/PWM.h	Sat Sep 22 10:24:14 2012 +0000
@@ -14,6 +14,12 @@
 const uint8_t SRV_BANK_NUM = 3;//
 const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;//
 
+const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM] = {
+    {0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD},
+    {0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD},
+    {0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD}
+    };
+
 class PWM {
   public:
     PWM();

--- a/main.cpp	Sat Sep 22 06:58:21 2012 +0000
+++ b/main.cpp	Sat Sep 22 10:24:14 2012 +0000
@@ -8,21 +8,21 @@
 
 int main(void)
 {  
-    unsigned char size_x = 4, size_y = 24;
+    unsigned short int size_x = 400;    //max about 25kb
+    unsigned char size_y = 25;
     
-    uint32_t **array = new uint32_t*[size_x];
+    uint16_t **array = new uint16_t*[size_x];
 	for (int i = 0; i < size_x; ++i) {
-		array[i] = new uint32_t[size_y];
+		array[i] = new uint16_t[size_y];
 	}
 	for (int i = 0; i < size_x; ++i) {
 	    for (int j = 0; j < size_y; ++j) {
-	        array[i][j] = 900 + 300 * i;
+	        array[i][j] = 900 + 2*i;
 	    }
 	}
-	array[0][size_y - 1] = 50;
-	array[1][size_y - 1] = 50;
-	array[2][size_y - 1] = 50;
-	array[3][size_y - 1] = 50;
+	for (int i = 0; i < size_x; ++i) {
+	    array[i][size_y - 1] = 1;
+	}
 	
     Motion inter0(array, size_x, size_y);
     
@@ -33,6 +33,6 @@
         if (!inter0.is_in_interrupt()) {
             tick.attach(&inter0, &Motion::step, 0.02);
         }
-        wait(0.02);
+        wait(0.05);
     }
 }
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