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• This comparison shows the changes necessary to convert path

  → /demos/trunk/servo/ctrl.c @ 1306

  → /demos/trunk/servo/ctrl.c @ 1329

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  With Path:	Rev

Ignore whitespace Rev 1306 → Rev 1329

/demos/trunk/servo/ctrl.c
34,260 → 34,24
#include "servo.h"
void set_leg_position(double px, double py, double pz);
int main () {
int res;
char ch;
servo_open(COM2, 19200);
set_leg_position(10.0,0.0,0.0);
/*cprintf("servo_set_RS232_baudrate\n");
res = servo_set_RS232_baudrate(COM2, 115200);
cprintf("Res = %d\n",res);*/
cprintf("servo_get_RS232_baudrate\n");
res = servo_get_RS232_baudrate(COM2);
cprintf("Res = %d\n",res);
/*cprintf("servo_store_RS232_baudrate\n");
res = servo_store_RS232_baudrate(COM2);
cprintf("Res = %d\n\n",res);*/
ch = keyb_getch(BLOCK);
cprintf("servo_set_period\n");
res = servo_set_period(COM2, 20000);
cprintf("Res = %d\n",res);
cprintf("servo_get_period\n");
res = servo_get_period(COM2);
cprintf("Res = %d\n",res);
/*cprintf("servo_store_period\n");
res = servo_store_period(COM2);
cprintf("Res = %d\n\n",res);*/
set_leg_position(10.0,0.0,10.0);
ch = keyb_getch(BLOCK);
cprintf("servo_get_setup_switch\n");
res = servo_get_setup_switch(COM2);
cprintf("Res = %d\n",res);
cprintf("servo_set_RC5_switch\n");
res = servo_set_RC5_switch(COM2, 1);
cprintf("Res = %d\n\n",res);
set_leg_position(10.0,0.0,-10.0);
ch = keyb_getch(BLOCK);
cprintf("servo_set_levels\n");
res = servo_set_levels(COM2, 0x00,0x01);
cprintf("Res = %d\n",res);
cprintf("servo_get_levels\n");
res = servo_get_levels(COM2, 1);
cprintf("Res = %d\n\n",res);
ch = keyb_getch(BLOCK);
cprintf("servo_turn_off\n");
res = servo_turn_off(COM2, 1);
cprintf("Res = %d\n\n",res);
ch = keyb_getch(BLOCK);
cprintf("servo_turn_on\n");
res = servo_turn_on(COM2, 1);
cprintf("Res = %d\n\n",res);
ch = keyb_getch(BLOCK);
cprintf("servo_turn_off_all\n");
res = servo_turn_off_all(COM2);
cprintf("Res = %d\n\n",res);
ch = keyb_getch(BLOCK);
cprintf("servo_turn_on_all\n");
res = servo_turn_on_all(COM2);
cprintf("Res = %d\n\n",res);
ch = keyb_getch(BLOCK);
/*cprintf("servo_store_levels\n");
res = servo_store_levels(COM2);
cprintf("Res = %d\n\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_get_analog\n");
res = servo_get_analog(COM2, 0);
cprintf("Res = %d\n\n",res);
ch = keyb_getch(BLOCK);
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 0,ANGLE2SEC(45,0,0));
cprintf("Res = %d\n",res);
cprintf("servo_get_angle_sec\n");
res = servo_get_angle_sec(COM2, 0);
cprintf("Res = %d\n\n",res);
ch = keyb_getch(BLOCK);
/*----------------------------------------- */
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 0,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 0);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK); */
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 1,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 0);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK); */
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 2,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 2);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK); */
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 3,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 3);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK); */
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 4,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 4);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK); */
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 5,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 5);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK); */
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 6,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 6);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK); */
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 7,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 7);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 8,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 8);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 9,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 9);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 10,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 10);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 11,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 11);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 12,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 12);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 13,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 13);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 14,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 14);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
cprintf("servo_set_angle_sec\n");
res = servo_set_angle_sec(COM2, 15,ANGLE2SEC(0,0,0));
cprintf("Res = %d\n",res);
/*cprintf("servo_store_default_position\n");
res = servo_store_default_position(COM2, 15);
cprintf("Res = %d\n",res);
ch = keyb_getch(BLOCK);*/
servo_close(COM2);
return 0;
}