WebSVN - shark - Blame - Rev 1359 - /demos/trunk/chimera/keys.c

Rev	Author	Line No.	Line
1331	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
1336	giacomo	18	extern volatile int calibrate_status;
		19
1331	giacomo	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:
1334	giacomo	28	status.cfg[active_leg].pwm ^= 0x1;
1331	giacomo	29	break;
		30	case KEY_W:
1334	giacomo	31	status.cfg[active_leg].pwm ^= 0x2;
1331	giacomo	32	break;
		33	case KEY_E:
1334	giacomo	34	status.cfg[active_leg].pwm ^= 0x4;
1331	giacomo	35	break;
1359	giacomo	36	case KEY_1:
		37	active_leg = 0;
		38	break;
1331	giacomo	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:
1335	giacomo	52	active_leg = 5;
1331	giacomo	53	break;
1336	giacomo	54
1332	giacomo	55	case KEY_C:
1359	giacomo	56	if (calibrate_status != 0) calibrate_step(100000);
		57	else calibrate_init();
1332	giacomo	58	break;
		59
		60	case KEY_A:
1333	giacomo	61	calibrate_step(-108000);
1332	giacomo	62	break;
		63	case KEY_S:
1333	giacomo	64	calibrate_step(-3600);
1332	giacomo	65	break;
		66	case KEY_D:
1333	giacomo	67	calibrate_step(-60);
1332	giacomo	68	break;
		69	case KEY_F:
1333	giacomo	70	calibrate_step(+60);
1332	giacomo	71	break;
		72	case KEY_G:
1333	giacomo	73	calibrate_step(+3600);
1332	giacomo	74	break;
		75	case KEY_H:
1333	giacomo	76	calibrate_step(+108000);
1332	giacomo	77	break;
1331	giacomo	78	}
		79	}
		80
		81	void init_key()
		82	{
		83	KEY_EVT k;
		84
		85	/* Leg Selector */
		86	k.flag = 0;
		87	k.scan = KEY_1;
		88	k.ascii = '1';
1359	giacomo	89	k.status = KEY_PRESSED;
		90	keyb_hook(k,pad,FALSE);
1331	giacomo	91
		92	k.flag = 0;
		93	k.scan = KEY_2;
		94	k.ascii = '2';
1359	giacomo	95	k.status = KEY_PRESSED;
		96	keyb_hook(k,pad,FALSE);
1331	giacomo	97
		98	k.flag = 0;
		99	k.scan = KEY_3;
		100	k.ascii = '3';
1359	giacomo	101	k.status = KEY_PRESSED;
		102	keyb_hook(k,pad,FALSE);
1331	giacomo	103
		104	k.flag = 0;
		105	k.scan = KEY_4;
		106	k.ascii = '4';
1359	giacomo	107	k.status = KEY_PRESSED;
		108	keyb_hook(k,pad,FALSE);
1331	giacomo	109
		110	k.flag = 0;
		111	k.scan = KEY_5;
		112	k.ascii = '5';
1359	giacomo	113	k.status = KEY_PRESSED;
		114	keyb_hook(k,pad,FALSE);
1331	giacomo	115
		116	k.flag = 0;
		117	k.scan = KEY_6;
		118	k.ascii = '6';
1359	giacomo	119	k.status = KEY_PRESSED;
		120	keyb_hook(k,pad,FALSE);
1331	giacomo	121
		122	/* Leg Position */
		123	k.flag = 0;
		124	k.scan = KEY_J;
		125	k.ascii = 'j';
1359	giacomo	126	k.status = KEY_PRESSED;
		127	keyb_hook(k,pad,FALSE);
1331	giacomo	128
		129	k.flag = 0;
		130	k.scan = KEY_K;
		131	k.ascii = 'k';
1359	giacomo	132	k.status = KEY_PRESSED;
		133	keyb_hook(k,pad,FALSE);
1331	giacomo	134
		135	k.flag = 0;
		136	k.scan = KEY_L;
		137	k.ascii = 'l';
1359	giacomo	138	k.status = KEY_PRESSED;
		139	keyb_hook(k,pad,FALSE);
1331	giacomo	140
		141	k.flag = 0;
		142	k.scan = KEY_U;
		143	k.ascii = 'u';
1359	giacomo	144	k.status = KEY_PRESSED;
		145	keyb_hook(k,pad,FALSE);
1331	giacomo	146
		147	k.flag = 0;
		148	k.scan = KEY_I;
		149	k.ascii = 'i';
1359	giacomo	150	k.status = KEY_PRESSED;
		151	keyb_hook(k,pad,FALSE);
1331	giacomo	152
		153	k.flag = 0;
		154	k.scan = KEY_O;
		155	k.ascii = 'o';
1359	giacomo	156	k.status = KEY_PRESSED;
		157	keyb_hook(k,pad,FALSE);
1331	giacomo	158
		159	k.flag = 0;
		160	k.scan = KEY_Q;
1332	giacomo	161	k.ascii = 'q';
1359	giacomo	162	k.status = KEY_PRESSED;
		163	keyb_hook(k,pad,FALSE);
1331	giacomo	164
		165	k.flag = 0;
		166	k.scan = KEY_W;
1332	giacomo	167	k.ascii = 'w';
1359	giacomo	168	k.status = KEY_PRESSED;
		169	keyb_hook(k,pad,FALSE);
1331	giacomo	170
		171	k.flag = 0;
		172	k.scan = KEY_E;
1332	giacomo	173	k.ascii = 'e';
1359	giacomo	174	k.status = KEY_PRESSED;
		175	keyb_hook(k,pad,FALSE);
1331	giacomo	176
		177	k.flag = 0;
		178	k.scan = KEY_Z;
1332	giacomo	179	k.ascii = 'z';
1359	giacomo	180	k.status = KEY_PRESSED;
		181	keyb_hook(k,pad,FALSE);
1332	giacomo	182
		183
		184	k.flag = 0;
		185	k.scan = KEY_C;
		186	k.ascii = 'c';
1359	giacomo	187	k.status = KEY_PRESSED;
		188	keyb_hook(k,pad,FALSE);
1332	giacomo	189
		190	k.flag = 0;
		191	k.scan = KEY_A;
		192	k.ascii = 'a';
1359	giacomo	193	k.status = KEY_PRESSED;
		194	keyb_hook(k,pad,FALSE);
1332	giacomo	195
		196	k.flag = 0;
		197	k.scan = KEY_S;
		198	k.ascii = 's';
1359	giacomo	199	k.status = KEY_PRESSED;
		200	keyb_hook(k,pad,FALSE);
1332	giacomo	201
		202	k.flag = 0;
		203	k.scan = KEY_D;
		204	k.ascii = 'd';
1359	giacomo	205	k.status = KEY_PRESSED;
		206	keyb_hook(k,pad,FALSE);
1332	giacomo	207
		208	k.flag = 0;
		209	k.scan = KEY_F;
		210	k.ascii = 'f';
1359	giacomo	211	k.status = KEY_PRESSED;
		212	keyb_hook(k,pad,FALSE);
1332	giacomo	213
		214	k.flag = 0;
		215	k.scan = KEY_G;
		216	k.ascii = 'g';
1359	giacomo	217	k.status = KEY_PRESSED;
		218	keyb_hook(k,pad,FALSE);
1332	giacomo	219
		220	k.flag = 0;
		221	k.scan = KEY_H;
		222	k.ascii = 'h';
1359	giacomo	223	k.status = KEY_PRESSED;
		224	keyb_hook(k,pad,FALSE);
1332	giacomo	225
1331	giacomo	226	}

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(root)/demos/trunk/chimera/keys.c - Rev 1359