| 31,8 → 31,6 |
|---|
| kern_printf("Task Name : %s - Max Time : %d\n", proc_table[i].name, (int)tmp); |
| } |
| |
| trace_send(); |
| |
| sys_end(); |
| |
| } |
| 68,7 → 66,7 |
|---|
| |
| TASK walk_auto_6() |
| { |
| short i, n; |
| short i, n = 0; |
| int vd, vs, auto_count = 0; |
| int pos_a[6], pos_b[6], pos_c[6]; |
| struct action_event e; |
| 248,7 → 246,7 |
|---|
| hard_task_default_model(ms); |
| hard_task_def_ctrl_jet(ms); |
| hard_task_def_wcet(ms, 1000); |
| hard_task_def_mit(ms, 30000); |
| hard_task_def_mit(ms, 60000); |
| hard_task_def_usemath(ms); |
| pid_walk = task_create("Walk_Task", walk_auto_3, &ms, NULL); |
| if (pid_walk == NIL) { |
| 273,19 → 271,11 |
|---|
| |
| clear(); |
| |
| trace_init(1000000); |
| |
| init_send(); /* Comunication */ |
| init_key(); /* Keyboard */ |
| |
| init_action_event(100); |
| |
| if (argc < 2) sys_end(); |
| |
| beta = atoi(argv[1]); |
| cprintf("Beta = %d\n",beta); |
| |
| //action_stand_up(); |
| action_walk(); |
| |
| return 0; |