10,25 → 10,6 |
* http://shark.sssup.it |
*/ |
|
/* |
* Copyright (C) 2000 Paolo Gai |
* |
* This program is free software; you can redistribute it and/or modify |
* it under the terms of the GNU General Public License as published by |
* the Free Software Foundation; either version 2 of the License, or |
* (at your option) any later version. |
* |
* This program is distributed in the hope that it will be useful, |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
* GNU General Public License for more details. |
* |
* You should have received a copy of the GNU General Public License |
* along with this program; if not, write to the Free Software |
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
* |
*/ |
|
#include "chimera.h" |
|
void my_close(void *arg) |
55,9 → 36,9 |
ADDUSEC2TIMESPEC(10000000,&(e[i].time)); |
|
e[i].type = EVT_SET_MASK_LEG_ANGLE; |
e[i].mask = 31; |
e[i].mask = 0x3F; |
e[i].ang.a = 0 * 3600; |
e[i].ang.b = 80 * 3600; |
e[i].ang.b = 70 * 3600; |
e[i].ang.c = 0; |
e[i].pwm = 7; |
|
67,9 → 48,9 |
ADDUSEC2TIMESPEC(11000000,&(e[i+1].time)); |
|
e[i+1].type = EVT_SET_MASK_LEG_ANGLE; |
e[i+1].mask = 31; |
e[i+1].mask = 0x3F; |
e[i+1].ang.a = 90 * 3600; |
e[i+1].ang.b = 80 * 3600; |
e[i+1].ang.b = 70 * 3600; |
e[i+1].ang.c = 0; |
e[i+1].pwm = 7; |
|
79,7 → 60,7 |
ADDUSEC2TIMESPEC(12000000,&(e[i+2].time)); |
|
e[i+2].type = EVT_SET_MASK_LEG_ANGLE; |
e[i+2].mask = 31; |
e[i+2].mask = 0x3F; |
e[i+2].ang.a = 90 * 3600; |
e[i+2].ang.b = -50 * 3600; |
e[i+2].ang.c = 0; |
91,7 → 72,7 |
ADDUSEC2TIMESPEC(13000000,&(e[i+3].time)); |
|
e[i+3].type = EVT_SET_MASK_LEG_ANGLE; |
e[i+3].mask = 31; |
e[i+3].mask = 0x3F; |
e[i+3].ang.a = 90 * 3600; |
e[i+3].ang.b = 0 * 3600; |
e[i+3].ang.c = 0; |
103,7 → 84,7 |
ADDUSEC2TIMESPEC(15000000,&(e[i+4].time)); |
|
e[i+4].type = EVT_SET_MASK_LEG_ANGLE; |
e[i+4].mask = 31; |
e[i+4].mask = 0x3F; |
e[i+4].ang.a = 90 * 3600; |
e[i+4].ang.b = 0 * 3600; |
e[i+4].ang.c = 0; |
127,7 → 108,8 |
init_send(); /* Comunication */ |
init_key(); /* Keyboard */ |
|
action_stand_up(); |
//action_stand_up(); |
|
return 0; |
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} |