Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.

Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

Files at this revision

API Documentation at this revision

Revision 3:84e5335fab91, committed 2012-08-30

Comitter:
syundo0730
Date:
Thu Aug 30 12:41:50 2012 +0000
Parent:
2:8a40834788ba
Child:
4:364582b47aab
Child:
5:0ca9f1bc1fb0
Commit message:
base

Changed in this revision

Source3.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Source3.cpp	Thu Aug 30 02:00:58 2012 +0000
+++ b/Source3.cpp	Thu Aug 30 12:41:50 2012 +0000
@@ -17,19 +17,12 @@
 volatile uint8_t SRV_Idx = 0;//�T�[�{�؂�ւ��p�̃J�E���^
 volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];//�f���[�e�B�[�l
 
-//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}
-//};
-
 const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM]={
-{0,2500,0,2500,0,2500,0,2500},
-{0,0,2500,2500,0,0,2500,2500},
-{0,0,0,0,2500,2500,2500,2500}
+{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}
 };
 
-
 void Init_PWM(void);
 void SetDuty(uint8_t ch, uint32_t duty);
 
@@ -54,15 +47,16 @@
 }
 
 void PWM1_IRQHandler (void) {
-    LPC_PWM1->LER |= 0x7E;
     
-    LPC_PWM1->MR1 = 500;//SRV_PWMTable[0][SRV_Idx];
+    LPC_PWM1->MR1 = SRV_PWMTable[0][SRV_Idx];
     LPC_PWM1->MR2 = SRV_PWMTable[1][SRV_Idx];
     LPC_PWM1->MR3 = SRV_PWMTable[2][SRV_Idx];
     LPC_PWM1->MR4 = SRV_dutyTable[0][SRV_Idx];
     LPC_PWM1->MR5 = SRV_dutyTable[1][SRV_Idx];
     LPC_PWM1->MR6 = SRV_dutyTable[2][SRV_Idx];
     
+    LPC_PWM1->LER |= 0x7E;
+    
     LPC_PWM1->IR |= (1<<0); // reset PWMMR0 flag
     
     SRV_Idx++;