4,9 → 4,6 |
* |
* Coordinators: Giorgio Buttazzo <giorgio@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) |
* |
* http://www.sssup.it |
62,10 → 59,10 |
|
e[i].type = EVT_SET_MASK_LEG_ANGLE; |
e[i].mask = 1 << i; |
*(int *)(e[i].data) = 45 * 3600; |
*(int *)(e[i].data + 4) = 0; |
*(int *)(e[i].data + 8) = 0; |
*(unsigned char *)(e[i].data + 12) = 7; |
e[i].ang.a = 45 * 3600; |
e[i].ang.b = 0; |
e[i].ang.c = 0; |
e[i].pwm = 7; |
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insert_action_event(&(e[i])); |
|
80,27 → 77,16 |
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e[6+i].type = EVT_SET_MASK_LEG_ANGLE; |
e[6+i].mask = 1 << i; |
*(int *)(e[6+i].data) = 135 * 3600; |
*(int *)(e[6+i].data + 4) = 0; |
*(int *)(e[6+i].data + 8) = 0; |
*(unsigned char *)(e[6+i].data + 12) = 7; |
e[6+i].ang.a = 135 * 3600; |
e[6+i].ang.b = 0; |
e[6+i].ang.c = 0; |
e[6+i].pwm = 7; |
|
|
insert_action_event(&(e[6+i])); |
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} |
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kern_gettime(&(e[15].time)); |
ADDUSEC2TIMESPEC(30000000,&(e[15].time)); |
|
e[15].type = EVT_SET_MASK_LEG_ANGLE; |
e[15].mask = 1 << 3; |
*(int *)(e[15].data) = 0; |
*(int *)(e[15].data + 4) = 0; |
*(int *)(e[15].data + 8) = -45 * 3600; |
*(unsigned char *)(e[15].data + 12) = 4; |
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insert_action_event(&(e[15])); |
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} |
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int main(int argc, char **argv) |