| 150,9 → 150,9 |
|---|
| |
| status.cfg[i].pwm = e->pwm; |
| |
| #ifdef DEBUG_SEND |
| //#ifdef DEBUG_SEND |
| printf_xy(3,2,WHITE,"%8d: Update leg %2d angle",(int)kern_gettime(NULL),i); |
| #endif |
| //#endif |
| |
| |
| } |
| 170,7 → 170,9 |
|---|
| HEXAPOD_STATE old_status; |
| register char changes, new_pos, new_pwm, new_power; |
| int res,n; |
| struct timespec t; |
| |
| |
| for (n=0; n<6;n++) { |
| old_status.ang[n].a = 0; |
| old_status.ang[n].b = 0; |
| 244,6 → 246,8 |
|---|
| #endif |
| } |
| } |
| sys_gettime(&t); |
| printf_xy(1,20,WHITE,"%d:CHANGE = %d",(int)t.tv_sec,changes); |
| task_endcycle(); |
| } |
| |
| 311,8 → 315,8 |
|---|
| if (pid == NIL) { |
| perror("Could not create task <Get_Task>"); |
| sys_end(); |
| } //else |
| //task_activate(pid); |
| } else |
| task_activate(pid); |
| } |
| |
| void init_send() |