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