Rev 1333 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1331 | giacomo | 1 | /* |
| 2 | * Project: HARTIK (HA-rd R-eal TI-me K-ernel) |
||
| 3 | * |
||
| 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
||
| 5 | * Gerardo Lamastra <gerardo@sssup.it> |
||
| 6 | * |
||
| 7 | * Authors : Paolo Gai <pj@hartik.sssup.it> |
||
| 8 | * (see authors.txt for full list of hartik's authors) |
||
| 9 | * |
||
| 10 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
||
| 11 | * |
||
| 12 | * http://www.sssup.it |
||
| 13 | * http://retis.sssup.it |
||
| 14 | * http://hartik.sssup.it |
||
| 15 | */ |
||
| 16 | |||
| 17 | /* |
||
| 18 | * Copyright (C) 2000 Paolo Gai |
||
| 19 | * |
||
| 20 | * This program is free software; you can redistribute it and/or modify |
||
| 21 | * it under the terms of the GNU General Public License as published by |
||
| 22 | * the Free Software Foundation; either version 2 of the License, or |
||
| 23 | * (at your option) any later version. |
||
| 24 | * |
||
| 25 | * This program is distributed in the hope that it will be useful, |
||
| 26 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
||
| 27 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
| 28 | * GNU General Public License for more details. |
||
| 29 | * |
||
| 30 | * You should have received a copy of the GNU General Public License |
||
| 31 | * along with this program; if not, write to the Free Software |
||
| 32 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
||
| 33 | * |
||
| 34 | */ |
||
| 35 | |||
| 36 | #include <stdlib.h> |
||
| 37 | #include <string.h> |
||
| 38 | #include <math.h> |
||
| 39 | #include <kernel/kern.h> |
||
| 40 | #include <kernel/func.h> |
||
| 41 | #include <semaphore.h> |
||
| 42 | #include "modules/sem.h" |
||
| 43 | #include "modules/hartport.h" |
||
| 44 | #include <drivers/keyb.h> |
||
| 45 | |||
| 46 | #include <servo.h> |
||
| 47 | |||
| 48 | /* COM Port Constants */ |
||
| 49 | #define COM_PORT COM2 |
||
| 50 | #define COM_SPEED 115200 |
||
| 51 | |||
| 52 | #define com(i) ((i) / 12) ? COM2 : COM1 |
||
| 53 | #define pin(i) (i) % 12 |
||
| 54 | |||
| 55 | /* Angle bounds */ |
||
| 56 | #define POS_X_MIN 0 |
||
| 57 | #define POS_X_MAX 200 |
||
| 58 | #define POS_Y_MIN -200 |
||
| 59 | #define POS_Y_MAX 200 |
||
| 60 | #define POS_Z_MIN -150 |
||
| 61 | #define POS_Z_MAX 150 |
||
| 62 | |||
| 63 | typedef struct { /*describe the position and adc value of a leg*/ |
||
| 64 | int x; |
||
| 65 | int y; |
||
| 66 | int z; |
||
| 67 | int adc_in; |
||
| 68 | unsigned char pwm; |
||
| 69 | } LEG_STATE; |
||
| 70 | |||
| 71 | typedef struct { /*describe the position of a leg in servo angles*/ |
||
| 72 | int a; |
||
| 73 | int b; |
||
| 74 | int c; |
||
| 75 | } ANGLES_STATE; |
||
| 76 | |||
| 77 | typedef struct { |
||
| 78 | LEG_STATE leg[6]; |
||
| 79 | char power; |
||
| 80 | } HEXAPOD_STATE; |
||
| 81 | |||
| 82 | /*****************************************/ |
||
| 83 | |||
| 84 | extern sem_t mx_status; |
||
| 85 | extern HEXAPOD_STATE status; |
||
| 86 | |||
| 87 | void init_send(void); |
||
| 88 | void end_send(void); |
||
| 89 | |||
| 90 | void init_key(void); |