Subversion Repositories shark

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Ignore whitespace Rev 1359 → Rev 1358

/demos/trunk/chimera/chimera.c
10,6 → 10,25
* http://shark.sssup.it
*/
 
/*
* Copyright (C) 2000 Paolo Gai
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
 
#include "chimera.h"
 
void my_close(void *arg)
36,9 → 55,9
ADDUSEC2TIMESPEC(10000000,&(e[i].time));
e[i].type = EVT_SET_MASK_LEG_ANGLE;
e[i].mask = 0x3F;
e[i].mask = 31;
e[i].ang.a = 0 * 3600;
e[i].ang.b = 70 * 3600;
e[i].ang.b = 80 * 3600;
e[i].ang.c = 0;
e[i].pwm = 7;
48,9 → 67,9
ADDUSEC2TIMESPEC(11000000,&(e[i+1].time));
e[i+1].type = EVT_SET_MASK_LEG_ANGLE;
e[i+1].mask = 0x3F;
e[i+1].mask = 31;
e[i+1].ang.a = 90 * 3600;
e[i+1].ang.b = 70 * 3600;
e[i+1].ang.b = 80 * 3600;
e[i+1].ang.c = 0;
e[i+1].pwm = 7;
60,7 → 79,7
ADDUSEC2TIMESPEC(12000000,&(e[i+2].time));
e[i+2].type = EVT_SET_MASK_LEG_ANGLE;
e[i+2].mask = 0x3F;
e[i+2].mask = 31;
e[i+2].ang.a = 90 * 3600;
e[i+2].ang.b = -50 * 3600;
e[i+2].ang.c = 0;
72,7 → 91,7
ADDUSEC2TIMESPEC(13000000,&(e[i+3].time));
e[i+3].type = EVT_SET_MASK_LEG_ANGLE;
e[i+3].mask = 0x3F;
e[i+3].mask = 31;
e[i+3].ang.a = 90 * 3600;
e[i+3].ang.b = 0 * 3600;
e[i+3].ang.c = 0;
84,7 → 103,7
ADDUSEC2TIMESPEC(15000000,&(e[i+4].time));
e[i+4].type = EVT_SET_MASK_LEG_ANGLE;
e[i+4].mask = 0x3F;
e[i+4].mask = 31;
e[i+4].ang.a = 90 * 3600;
e[i+4].ang.b = 0 * 3600;
e[i+4].ang.c = 0;
108,8 → 127,7
init_send(); /* Comunication */
init_key(); /* Keyboard */
 
//action_stand_up();
action_stand_up();
 
return 0;
 
}