| 4,6 → 4,9 |
|---|
| * |
| * 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 |
| 59,10 → 62,10 |
|---|
| |
| e[i].type = EVT_SET_MASK_LEG_ANGLE; |
| e[i].mask = 1 << i; |
| e[i].ang.a = 45 * 3600; |
| e[i].ang.b = 0; |
| e[i].ang.c = 0; |
| e[i].pwm = 7; |
| *(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; |
| |
| insert_action_event(&(e[i])); |
| |
| 77,16 → 80,27 |
|---|
| |
| e[6+i].type = EVT_SET_MASK_LEG_ANGLE; |
| e[6+i].mask = 1 << i; |
| e[6+i].ang.a = 135 * 3600; |
| e[6+i].ang.b = 0; |
| e[6+i].ang.c = 0; |
| e[6+i].pwm = 7; |
| |
| |
| *(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; |
| |
| insert_action_event(&(e[6+i])); |
| |
| } |
| |
| 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; |
| |
| insert_action_event(&(e[15])); |
| |
| } |
| |
| int main(int argc, char **argv) |