4,8 → 4,6 |
* Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
* Gerardo Lamastra <gerardo@sssup.it> |
* |
* Authors : Paolo Gai <pj@hartik.sssup.it> |
* (see authors.txt for full list of hartik's authors) |
* |
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
* |
14,25 → 12,6 |
* http://hartik.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 <stdlib.h> |
#include <string.h> |
#include <math.h> |
41,15 → 20,15 |
#include <semaphore.h> |
#include "modules/sem.h" |
#include "modules/hartport.h" |
#include <drivers/keyb.h> |
#include <drivers/shark_keyb26.h> |
|
#include <servo.h> |
|
/* COM Port Constants */ |
#define COM_PORT COM2 |
#define COM_PORT COM1 |
#define COM_SPEED 115200 |
|
#define com(i) ((i) / 12) ? COM2 : COM1 |
#define com(i) ((i) / 12) ? COM1 : COM2 |
#define pin(i) (i) % 12 |
|
/* Angle bounds */ |