| 17,11 → 17,11 |
|---|
| |
| /* Servo Tasks Constants */ |
| #ifdef DUBUG_SEND |
| #define SEND_TASK_WCET 1000 |
| #define SEND_TASK_WCET 6000 |
| #else |
| #define SEND_TASK_WCET 1000 |
| #define SEND_TASK_WCET 6000 |
| #endif |
| #define SEND_TASK_MIT 10000 |
| #define SEND_TASK_MIT 20000 |
| |
| #define LEG_A 100.0 |
| #define LEG_B 66.0 |
| 255,11 → 255,21 |
|---|
| task_preempt(); |
| |
| task_endcycle(); |
| #endif |
| |
| #endif |
| } |
| } |
| |
| #ifdef SERIAL_ON |
| task_nopreempt(); |
| status.cfg[0].adc_in = servo_get_analog(COM_PORT, 0, 8); |
| printf_xy(1,1,WHITE,"[%d : %d]",0,status.cfg[0].adc_in); |
| task_preempt(); |
| //#ifdef DEBUG_SEND |
| //cprintf("Analog in %d: %d\n", 0, status.cfg[0].adc_in); |
| //#endif |
| #endif |
| |
| task_endcycle(); |
| task_testcancel(); |
| } |