Subversion Repositories shark

Compare Revisions

Ignore whitespace Rev 1335 → Rev 1336

/demos/trunk/chimera/chimera.h
65,27 → 65,20
unsigned char pwm;
} LEG_CFG_STATE;
 
typedef struct { /*describe the position and adc value of a leg*/
typedef struct { /*describe the position of leg*/
int x;
int y;
int z;
} LEG_POS_STATE;
 
typedef struct { /*describe the position and adc value of a leg*/
typedef struct { /*describe the servo angles*/
int a;
int b;
int c;
} LEG_ANG_STATE;
 
typedef struct { /*describe the position of a leg in servo angles*/
int a;
int b;
int c;
} ANGLES_STATE;
 
typedef struct {
LEG_CFG_STATE cfg[6];
LEG_POS_STATE leg[6];
LEG_ANG_STATE ang[6];
char power;
} HEXAPOD_STATE;
93,7 → 86,6
/*****************************************/
 
#define EVT_SET_MASK_LEG_ANGLE 0x01
#define EVT_SET_MASK_LEG_POS 0x02
 
#define EVT_STATUS_WAIT 0x01
#define EVT_STATUS_EXEC 0x02
105,7 → 97,8
unsigned char status;
struct timespec time;
unsigned char mask;
unsigned char data[20]; //Generic data
LEG_ANG_STATE ang; //Servo angle data
unsigned char pwm;
struct action_event *next;
 
};
119,3 → 112,6
void end_send(void);
 
void init_key(void);
 
int adjust(int angle_sec, int leg, int num);