| 4,6 → 4,8 |
|---|
| * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
| * Gerardo Lamastra <gerardo@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) |
| * |
| 12,6 → 14,25 |
|---|
| * http://hartik.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 <stdlib.h> |
| #include <string.h> |
| #include <math.h> |
| 20,15 → 41,15 |
|---|
| #include <semaphore.h> |
| #include "modules/sem.h" |
| #include "modules/hartport.h" |
| #include <drivers/shark_keyb26.h> |
| #include <drivers/keyb.h> |
| |
| #include <servo.h> |
| |
| /* COM Port Constants */ |
| #define COM_PORT COM1 |
| #define COM_PORT COM2 |
| #define COM_SPEED 115200 |
| |
| #define com(i) ((i) / 12) ? COM1 : COM2 |
| #define com(i) ((i) / 12) ? COM2 : COM1 |
| #define pin(i) (i) % 12 |
| |
| /* Angle bounds */ |