| 35,11 → 35,10 |
|---|
| |
| #include "chimera.h" |
| |
| /* Manual step increment */ |
| #define INC_LEG 2 |
| |
| unsigned char active_leg; |
| |
| extern volatile int calibrate_status; |
| |
| void pad(KEY_EVT *k) |
| { |
| switch (k->scan) { |
| 65,46 → 64,6 |
|---|
| //sem_post(&mx_status); |
| break; |
| |
| case KEY_U: |
| //sem_wait(&mx_status); |
| status.leg[active_leg].x += INC_LEG; |
| if (status.leg[active_leg].x > POS_X_MAX) status.leg[active_leg].x = POS_X_MAX; |
| //sem_post(&mx_status); |
| break; |
| case KEY_J: |
| //sem_wait(&mx_status); |
| status.leg[active_leg].x -= INC_LEG; |
| if (status.leg[active_leg].x < POS_X_MIN) status.leg[active_leg].x = POS_X_MIN; |
| //sem_post(&mx_status); |
| break; |
| case KEY_I: |
| //sem_wait(&mx_status); |
| status.leg[active_leg].y += INC_LEG; |
| if (status.leg[active_leg].y > POS_Y_MAX) status.leg[active_leg].y = POS_Y_MAX; |
| //sem_post(&mx_status); |
| break; |
| case KEY_K: |
| //sem_wait(&mx_status); |
| status.leg[active_leg].y -= INC_LEG; |
| if (status.leg[active_leg].y < POS_Y_MIN) status.leg[active_leg].y = POS_Y_MIN; |
| //sem_post(&mx_status); |
| break; |
| case KEY_O: |
| //sem_wait(&mx_status); |
| status.leg[active_leg].z += INC_LEG; |
| if (status.leg[active_leg].z > POS_Z_MAX) status.leg[active_leg].z = POS_Z_MAX; |
| //sem_post(&mx_status); |
| break; |
| case KEY_L: |
| //sem_wait(&mx_status); |
| status.leg[active_leg].z -= INC_LEG; |
| if (status.leg[active_leg].z < POS_Z_MIN) status.leg[active_leg].z = POS_Z_MIN; |
| //sem_post(&mx_status); |
| break; |
| |
| case KEY_1: |
| active_leg = 0; |
| break; |
| case KEY_2: |
| active_leg = 1; |
| break; |
| 119,11 → 78,11 |
|---|
| break; |
| case KEY_6: |
| active_leg = 5; |
| //calibrate_step(100000); |
| break; |
| /* |
| |
| case KEY_C: |
| calibrate_init(); |
| if (calibrate_init != 0) calibrate_step(100000); |
| break; |
| |
| case KEY_A: |
| 144,7 → 103,6 |
|---|
| case KEY_H: |
| calibrate_step(+108000); |
| break; |
| */ |
| } |
| } |
| |