WebSVN - shark - Blame - Rev 1625 - /advdemos/trunk/chimera/keys.c

Rev	Author	Line No.	Line
1624	giacomo	1	/*
		2	* Project: S.Ha.R.K.
		3	*
		4	* Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
		5	*
		6	*
		7	* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
		8	*
		9	* http://www.sssup.it
		10	* http://retis.sssup.it
		11	* http://shark.sssup.it
		12	*/
		13
		14	#include "chimera.h"
		15
		16	unsigned char active_leg;
		17
		18	extern volatile int calibrate_status;
		19
		20	void pad(KEY_EVT *k)
		21	{
		22	switch (k->scan) {
		23	case KEY_Z:
		24	status.power ^= 1;
		25	break;
		26
		27	case KEY_Q:
		28	status.cfg[active_leg].pwm ^= 0x1;
		29	break;
		30	case KEY_W:
		31	status.cfg[active_leg].pwm ^= 0x2;
		32	break;
		33	case KEY_E:
		34	status.cfg[active_leg].pwm ^= 0x4;
		35	break;
		36	case KEY_1:
		37	active_leg = 0;
		38	break;
		39	case KEY_2:
		40	active_leg = 1;
		41	break;
		42	case KEY_3:
		43	active_leg = 2;
		44	break;
		45	case KEY_4:
		46	active_leg = 3;
		47	break;
		48	case KEY_5:
		49	active_leg = 4;
		50	break;
		51	case KEY_6:
		52	active_leg = 5;
		53	break;
		54
		55	case KEY_C:
		56	if (calibrate_status != 0) calibrate_step(100000);
		57	else calibrate_init();
		58	break;
		59
		60	case KEY_A:
		61	calibrate_step(-108000);
		62	break;
		63	case KEY_S:
		64	calibrate_step(-3600);
		65	break;
		66	case KEY_D:
		67	calibrate_step(-60);
		68	break;
		69	case KEY_F:
		70	calibrate_step(+60);
		71	break;
		72	case KEY_G:
		73	calibrate_step(+3600);
		74	break;
		75	case KEY_H:
		76	calibrate_step(+108000);
		77	break;
		78	}
		79	}
		80
		81	void init_key()
		82	{
		83	KEY_EVT k;
		84
		85	k.flag = 0;
		86	k.scan = KEY_1;
		87	k.ascii = '1';
		88	keyb_hook(k,pad);
		89
		90	k.flag = 0;
		91	k.scan = KEY_2;
		92	k.ascii = '2';
		93	keyb_hook(k,pad);
		94
		95	k.flag = 0;
		96	k.scan = KEY_3;
		97	k.ascii = '3';
		98	keyb_hook(k,pad);
		99
		100	k.flag = 0;
		101	k.scan = KEY_4;
		102	k.ascii = '4';
		103	keyb_hook(k,pad);
		104
		105	k.flag = 0;
		106	k.scan = KEY_5;
		107	k.ascii = '5';
		108	keyb_hook(k,pad);
		109
		110	k.flag = 0;
		111	k.scan = KEY_6;
		112	k.ascii = '6';
		113	keyb_hook(k,pad);
		114
		115	k.flag = 0;
		116	k.scan = KEY_J;
		117	k.ascii = 'j';
		118	keyb_hook(k,pad);
		119
		120	k.flag = 0;
		121	k.scan = KEY_K;
		122	k.ascii = 'k';
		123	keyb_hook(k,pad);
		124
		125	k.flag = 0;
		126	k.scan = KEY_L;
		127	k.ascii = 'l';
		128	keyb_hook(k,pad);
		129
		130	k.flag = 0;
		131	k.scan = KEY_U;
		132	k.ascii = 'u';
		133	keyb_hook(k,pad);
		134
		135	k.flag = 0;
		136	k.scan = KEY_I;
		137	k.ascii = 'i';
		138	keyb_hook(k,pad);
		139
		140	k.flag = 0;
		141	k.scan = KEY_O;
		142	k.ascii = 'o';
		143	keyb_hook(k,pad);
		144
		145	k.flag = 0;
		146	k.scan = KEY_Q;
		147	k.ascii = 'q';
		148	keyb_hook(k,pad);
		149
		150	k.flag = 0;
		151	k.scan = KEY_W;
		152	k.ascii = 'w';
		153	keyb_hook(k,pad);
		154
		155	k.flag = 0;
		156	k.scan = KEY_E;
		157	k.ascii = 'e';
		158	keyb_hook(k,pad);
		159
		160	k.flag = 0;
		161	k.scan = KEY_Z;
		162	k.ascii = 'z';
		163	keyb_hook(k,pad);
		164
		165
		166	k.flag = 0;
		167	k.scan = KEY_C;
		168	k.ascii = 'c';
		169	keyb_hook(k,pad);
		170
		171	k.flag = 0;
		172	k.scan = KEY_A;
		173	k.ascii = 'a';
		174	keyb_hook(k,pad);
		175
		176	k.flag = 0;
		177	k.scan = KEY_S;
		178	k.ascii = 's';
		179	keyb_hook(k,pad);
		180
		181	k.flag = 0;
		182	k.scan = KEY_D;
		183	k.ascii = 'd';
		184	keyb_hook(k,pad);
		185
		186	k.flag = 0;
		187	k.scan = KEY_F;
		188	k.ascii = 'f';
		189	keyb_hook(k,pad);
		190
		191	k.flag = 0;
		192	k.scan = KEY_G;
		193	k.ascii = 'g';
		194	keyb_hook(k,pad);
		195
		196	k.flag = 0;
		197	k.scan = KEY_H;
		198	k.ascii = 'h';
		199	keyb_hook(k,pad);
		200	}

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(root)/advdemos/trunk/chimera/keys.c - Rev 1625