50,28 → 50,45 |
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void action_stand_up(void) { |
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static struct action_event e[6]; |
static struct action_event e[20]; |
int i,temp; |
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for (i=0;i<5;i++) { |
for (i=0;i<3;i++) { |
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kern_gettime(&(e[i].time)); |
ADDUSEC2TIMESPEC(10000000,&(e[i].time)); |
temp = i*1000000; |
ADDUSEC2TIMESPEC(temp,&(e[i].time)); |
kern_gettime(&(e[i].time)); |
ADDUSEC2TIMESPEC(10000000,&(e[i].time)); |
temp = i*1000000; |
ADDUSEC2TIMESPEC(temp,&(e[i].time)); |
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e[i].type = EVT_SET_MASK_LEG_ANGLE; |
e[i].mask = 1 << i; |
*(int *)(e[i].data) = 45 * 3600; |
*(int *)(e[i].data + 4) = 0; |
*(int *)(e[i].data + 8) = 0; |
*(int *)(e[i].data + 12) = 0; |
*(unsigned char *)(e[i].data + 16) = 7; |
e[i].type = EVT_SET_MASK_LEG_ANGLE; |
e[i].mask = 1 << i; |
*(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; |
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insert_action_event(&(e[i])); |
insert_action_event(&(e[i])); |
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} |
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for (i=0;i<3;i++) { |
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kern_gettime(&(e[6+i].time)); |
ADDUSEC2TIMESPEC(20000000,&(e[6+i].time)); |
temp = i*1000000; |
ADDUSEC2TIMESPEC(temp,&(e[6+i].time)); |
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e[6+i].type = EVT_SET_MASK_LEG_ANGLE; |
e[6+i].mask = 1 << i; |
*(int *)(e[6+i].data) = 0 * 3600; |
*(int *)(e[6+i].data + 4) = 0; |
*(int *)(e[6+i].data + 8) = 0; |
*(unsigned char *)(e[i].data + 12) = 7; |
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insert_action_event(&(e[6+i])); |
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} |
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} |
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int main(int argc, char **argv) |