17,11 → 17,11 |
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/* Servo Tasks Constants */ |
#ifdef DUBUG_SEND |
#define SEND_TASK_WCET 1000 |
#define SEND_TASK_WCET 6000 |
#else |
#define SEND_TASK_WCET 1000 |
#define SEND_TASK_WCET 6000 |
#endif |
#define SEND_TASK_MIT 10000 |
#define SEND_TASK_MIT 20000 |
|
#define LEG_A 100.0 |
#define LEG_B 66.0 |
255,11 → 255,21 |
task_preempt(); |
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task_endcycle(); |
#endif |
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#endif |
} |
} |
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#ifdef SERIAL_ON |
task_nopreempt(); |
status.cfg[0].adc_in = servo_get_analog(COM_PORT, 0, 8); |
printf_xy(1,1,WHITE,"[%d : %d]",0,status.cfg[0].adc_in); |
task_preempt(); |
//#ifdef DEBUG_SEND |
//cprintf("Analog in %d: %d\n", 0, status.cfg[0].adc_in); |
//#endif |
#endif |
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task_endcycle(); |
task_testcancel(); |
} |