Commit 4426c4ba authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Solved problems with the generation and execution of actions files in the bioloid robot.

parent a0da87d8
......@@ -123,7 +123,7 @@ void action_load_next_step(void)
}
}
// compute trajectory
action_pause_time=((action_current_page.steps[action_current_step_index].pause<<14)/action_current_page.header.speed);
action_pause_time=((action_current_page.steps[action_current_step_index].pause<<14)*action_current_page.header.speed);
action_step_time=((action_current_page.steps[action_current_step_index].time<<14)/action_current_page.header.speed);
if(action_step_time<action_period)
action_step_time=action_period;// 0.078 in 16|16 format
......
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