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Inverted Pendulum Demo with Mesa


Giacomo Guidi   <>

Last update 17/03/2003

This is the old Inverted Pendulum control
demo rewrited usigng the Mesa support

The demo needs a PCL812 card present and
the inv.pendulum hardware

The graphic cards actually supported are:

GEFORCE TNT TNT2 - driver name NV3
RAGE128 RADEON - driver name R128


The demo is composed by:

MAKEFILE     The makefile used to compile the application
README.TXT   This file
INITFILE.C   The init file
KALM3D.C     The Inv.Pendulum Demo
CARRELLO.C   The control task


- To specify your card change the line

#define CARD <driver name>

- The demo calls the grx and off-screen Mesa functions. 
The resolution must be 16 bitsperpixel (64K colors) and 
the graphic access mode must be linear.

- There are two buffers

        The video buffer (video_buf)
        The virtual buffer (rgb_565_buf)

        copy_videomem_16to16 links these buffers