diff --git a/examples/dexter/Makefile b/examples/dexter/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..72e8219eeea802011d2f85d3b79f3b5eb1108b2c
--- /dev/null
+++ b/examples/dexter/Makefile
@@ -0,0 +1,58 @@
+PROJECT=movements
+########################################################
+# afegir tots els fitxers que s'han de compilar aquÃ
+########################################################
+SOURCES=movements.c mtn_library.c
+
+OBJS=$(SOURCES:.c=.o)
+SRC_DIR=./
+DEV_DIR=../../dyn_devices/
+COMM_DIR=../../communications/
+CONT_DIR=../../controllers/
+MAN_DIR=../../motion/
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+MMCU=atmega2561
+
+LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
+
+INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include
+
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+
+LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
+
+HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
+
+.PHONY: all
+
+all: communications dyn_devices controllers motion_manager $(PROJECT).hex
+
+$(PROJECT).hex: $(PROJECT).elf
+ $(OBJCOPY) -O ihex $(HEX_FLASH_FLAGS) $< $@
+$(PROJECT).elf: $(OBJS)
+ $(CC) $(LDFLAGS) $(OBJS) $(LIBS) -o $(PROJECT).elf
+%.o:%.c
+ $(CC) -c $(CFLAGS) $(INCLUDE_DIRS) -o $@ $<
+
+communications:
+ $(MAKE) -C $(COMM_DIR)
+
+dyn_devices:
+ $(MAKE) -C $(DEV_DIR)
+
+controllers:
+ $(MAKE) -C $(CONT_DIR)
+
+motion_manager:
+ $(MAKE) -C $(MAN_DIR)
+
+download: $(MAIN_OUT_HEX)
+ fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
+
+clean:
+ -rm $(PROJECT).o
+ -rm $(PROJECT).map
+ -rm $(PROJECT).elf
+ -rm $(PROJECT).hex
+ -rm $(OBJS)
diff --git a/examples/dexter/movements.c b/examples/dexter/movements.c
new file mode 100644
index 0000000000000000000000000000000000000000..1f046f8b2d1bda8cd541c2a8b50ce92970023686
--- /dev/null
+++ b/examples/dexter/movements.c
@@ -0,0 +1,81 @@
+#include <util/delay.h>
+#include <stdio.h>
+#include "cm510.h"
+#include "balance.h"
+#include "exp_board.h"
+#include "mtn_library.h"
+#include <stdlib.h>
+
+typedef enum {wait_start,wait_walk_ready,wait_cmd,walk,walk2} main_states;
+
+void user_init(void)
+{
+ serial_console_init(57600);
+ balance_init();
+ balance_calibrate_gyro();
+ balance_enable_gyro();
+ mtn_lib_init();
+}
+
+typedef uint8_t (*fnct_ptr)(void);
+
+fnct_ptr fnct1=fast_walk_forward;
+//fnct_ptr fnct1=walk_forward;
+//fnct_ptr fnct1=walk_right;
+//fnct_ptr fnct1=walk_backward_turn_left;
+
+fnct_ptr fnct2=turn_left;
+//fnct_ptr fnct2=walk_left;
+//fnct_ptr fnct2=walk_backward_turn_right;
+
+void user_loop(void)
+{
+ static main_states state=wait_start;
+ static int current_foot = 0;
+
+ switch(state)
+ {
+ case wait_start: if(is_button_rising_edge(BTN_START))
+ {
+ action_set_page(30);
+ action_start_page();
+ state=wait_walk_ready;
+ }
+ else
+ state=wait_start;
+ break;
+ case wait_walk_ready: if(is_action_running())
+ state=wait_walk_ready;
+ else
+ state=wait_cmd;
+ break;
+ case wait_cmd: if(is_button_rising_edge(BTN_UP))
+ {
+ fnct1();
+ state=walk;
+ }
+ else if(is_button_rising_edge(BTN_LEFT))
+ {
+ fnct2();
+ state=walk2;
+ }
+ else
+ state=wait_cmd;
+ break;
+ case walk: if(is_button_rising_edge(BTN_DOWN))
+ mtn_lib_stop_mtn();
+ if(fnct1()==0x01)
+ state=wait_cmd;
+ else
+ state=walk;
+ break;
+ case walk2: if(is_button_rising_edge(BTN_RIGHT))
+ mtn_lib_stop_mtn();
+ if(fnct2()==0x01)
+ state=wait_cmd;
+ else
+ state=walk2;
+ break;
+ }
+}
+
diff --git a/examples/dexter/movements.c~ b/examples/dexter/movements.c~
new file mode 100644
index 0000000000000000000000000000000000000000..1f046f8b2d1bda8cd541c2a8b50ce92970023686
--- /dev/null
+++ b/examples/dexter/movements.c~
@@ -0,0 +1,81 @@
+#include <util/delay.h>
+#include <stdio.h>
+#include "cm510.h"
+#include "balance.h"
+#include "exp_board.h"
+#include "mtn_library.h"
+#include <stdlib.h>
+
+typedef enum {wait_start,wait_walk_ready,wait_cmd,walk,walk2} main_states;
+
+void user_init(void)
+{
+ serial_console_init(57600);
+ balance_init();
+ balance_calibrate_gyro();
+ balance_enable_gyro();
+ mtn_lib_init();
+}
+
+typedef uint8_t (*fnct_ptr)(void);
+
+fnct_ptr fnct1=fast_walk_forward;
+//fnct_ptr fnct1=walk_forward;
+//fnct_ptr fnct1=walk_right;
+//fnct_ptr fnct1=walk_backward_turn_left;
+
+fnct_ptr fnct2=turn_left;
+//fnct_ptr fnct2=walk_left;
+//fnct_ptr fnct2=walk_backward_turn_right;
+
+void user_loop(void)
+{
+ static main_states state=wait_start;
+ static int current_foot = 0;
+
+ switch(state)
+ {
+ case wait_start: if(is_button_rising_edge(BTN_START))
+ {
+ action_set_page(30);
+ action_start_page();
+ state=wait_walk_ready;
+ }
+ else
+ state=wait_start;
+ break;
+ case wait_walk_ready: if(is_action_running())
+ state=wait_walk_ready;
+ else
+ state=wait_cmd;
+ break;
+ case wait_cmd: if(is_button_rising_edge(BTN_UP))
+ {
+ fnct1();
+ state=walk;
+ }
+ else if(is_button_rising_edge(BTN_LEFT))
+ {
+ fnct2();
+ state=walk2;
+ }
+ else
+ state=wait_cmd;
+ break;
+ case walk: if(is_button_rising_edge(BTN_DOWN))
+ mtn_lib_stop_mtn();
+ if(fnct1()==0x01)
+ state=wait_cmd;
+ else
+ state=walk;
+ break;
+ case walk2: if(is_button_rising_edge(BTN_RIGHT))
+ mtn_lib_stop_mtn();
+ if(fnct2()==0x01)
+ state=wait_cmd;
+ else
+ state=walk2;
+ break;
+ }
+}
+
diff --git a/examples/dexter/movements.elf b/examples/dexter/movements.elf
new file mode 100755
index 0000000000000000000000000000000000000000..77459a37e93112674eddb1e55fd6aaf61c7001fc
Binary files /dev/null and b/examples/dexter/movements.elf differ
diff --git a/examples/dexter/movements.hex b/examples/dexter/movements.hex
new file mode 100644
index 0000000000000000000000000000000000000000..ac72dc74164e2929d33258c4f725e541ad445f53
--- /dev/null
+++ b/examples/dexter/movements.hex
@@ -0,0 +1,1663 @@
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diff --git a/examples/dexter/movements.map b/examples/dexter/movements.map
new file mode 100644
index 0000000000000000000000000000000000000000..578efefed50d740ea1764d49d41f4cfe051e7aa5
--- /dev/null
+++ b/examples/dexter/movements.map
@@ -0,0 +1,1860 @@
+Archive member included because of file (symbol)
+
+../../motion/lib/libmotion_manager.a(action.o)
+ movements.o (action_set_page)
+../../motion/lib/libmotion_manager.a(motion_pages.o)
+ ../../motion/lib/libmotion_manager.a(action.o) (load_page_info)
+../../motion/lib/libmotion_manager.a(balance.o)
+ movements.o (balance_init)
+../../motion/lib/libmotion_manager.a(motion_manager.o)
+ ../../motion/lib/libmotion_manager.a(action.o) (manager_num_servos)
+../../controllers/lib/libcontrollers.a(cm510.o)
+ /usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/crtm2561.o (main)
+../../controllers/lib/libcontrollers.a(gpio.o)
+ ../../controllers/lib/libcontrollers.a(cm510.o) (pushbuttons_loop)
+../../controllers/lib/libcontrollers.a(adc.o)
+ ../../motion/lib/libmotion_manager.a(balance.o) (adc_loop)
+../../controllers/lib/libcontrollers.a(buzzer.o)
+ ../../controllers/lib/libcontrollers.a(cm510.o) (buzzer_loop)
+../../controllers/lib/libcontrollers.a(user_time.o)
+ ../../motion/lib/libmotion_manager.a(balance.o) (user_time_loop)
+../../communications/lib/libcomm.a(dynamixel_master.o)
+ ../../motion/lib/libmotion_manager.a(motion_manager.o) (dyn_master_init)
+../../communications/lib/libcomm.a(serial_console.o)
+ movements.o (serial_console_init)
+../../communications/lib/libcomm.a(dynamixel.o)
+ ../../communications/lib/libcomm.a(dynamixel_master.o) (dyn_check_checksum)
+../../dyn_devices/lib/libdyn_devices.a(dyn_servos.o)
+ ../../motion/lib/libmotion_manager.a(motion_manager.o) (enable_servo)
+../../dyn_devices/lib/libdyn_devices.a(exp_board.o)
+ ../../motion/lib/libmotion_manager.a(motion_manager.o) (exp_board_loop)
+../../dyn_devices/lib/libdyn_devices.a(dyn_common.o)
+ ../../motion/lib/libmotion_manager.a(motion_manager.o) (get_model_number)
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+ ../../controllers/lib/libcontrollers.a(gpio.o) (__tablejump2__)
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+ .text 0x0000000000001800 0x74a ../../motion/lib/libmotion_manager.a(balance.o)
+ 0x0000000000001800 balance_loop
+ 0x000000000000196a balance_get_offset
+ 0x000000000000197c balance_get_all_offsets
+ 0x0000000000001988 balance_init
+ 0x00000000000019b4 balance_robot_has_fallen
+ 0x00000000000019be balance_reset_fall_state
+ 0x00000000000019c4 balance_calibrate_gyro
+ 0x0000000000001f36 balance_enable_gyro
+ 0x0000000000001f3e balance_disable_gyro
+ 0x0000000000001f44 balance_is_gyro_enabled
+ .text 0x0000000000001f4a 0x4be ../../motion/lib/libmotion_manager.a(motion_manager.o)
+ 0x0000000000001f4a manager_timer_init
+ 0x0000000000001f98 manager_period_done
+ 0x0000000000001fae manager_send_motion_command
+ 0x00000000000020f8 manager_get_current_position
+ 0x0000000000002134 manager_set_servo_slopes
+ 0x000000000000217c manager_set_index_value
+ 0x000000000000218e manager_set_servo_value
+ 0x00000000000021d6 manager_get_index_value
+ 0x00000000000021e8 manager_get_servo_value
+ 0x0000000000002234 manager_loop
+ 0x000000000000225e manager_init
+ .text 0x0000000000002408 0x14 ../../controllers/lib/libcontrollers.a(cm510.o)
+ 0x0000000000002408 init_cm510
+ .text 0x000000000000241c 0x3a0 ../../controllers/lib/libcontrollers.a(gpio.o)
+ 0x000000000000241c pushbuttons_loop
+ 0x000000000000250e init_leds
+ 0x0000000000002568 turn_led_on
+ 0x0000000000002598 turn_led_off
+ 0x00000000000025c8 toggle_led
+ 0x0000000000002622 is_led_on
+ 0x000000000000266c init_buttons
+ 0x000000000000267e is_button_pressed
+ 0x00000000000026e8 is_button_rising_edge
+ 0x0000000000002752 is_button_falling_edge
+ .text 0x00000000000027bc 0xae8 ../../controllers/lib/libcontrollers.a(adc.o)
+ 0x00000000000027bc adc_set_channel
+ 0x00000000000027f6 adc_set_sample_period
+ 0x00000000000029bc adc_start_conv
+ 0x00000000000029c8 adc_is_conversion_done
+ 0x00000000000029d2 adc_is_period_done
+ 0x00000000000029da adc_loop
+ 0x0000000000002c8c init_adc
+ 0x0000000000003280 get_adc_channel
+ 0x0000000000003292 get_adc_avg_channel
+ .text 0x00000000000032a4 0x366 ../../controllers/lib/libcontrollers.a(buzzer.o)
+ 0x00000000000032a4 buzzer_loop
+ 0x0000000000003384 buzzer_stop_alarm
+ 0x000000000000339e buzzer_start_alarm
+ 0x0000000000003424 init_buzzer
+ 0x0000000000003508 buzzer_start
+ 0x000000000000356a buzzer_change_note
+ 0x00000000000035a4 buzzer_change_on_time
+ 0x00000000000035c0 buzzer_change_off_time
+ 0x00000000000035dc buzzer_stop
+ 0x00000000000035fe buzzer_is_playing
+ 0x0000000000003604 buzzer_is_playing_alarm
+ .text 0x000000000000360a 0x19e ../../controllers/lib/libcontrollers.a(user_time.o)
+ 0x000000000000360a user_time_loop
+ 0x0000000000003678 init_user_time
+ 0x00000000000036dc user_time_set_period
+ 0x0000000000003720 user_time_set_one_time
+ 0x0000000000003766 user_time_is_period_done
+ 0x0000000000003778 user_time_is_done
+ 0x000000000000378a user_time_stop
+ .text 0x00000000000037a8 0x7f6 ../../communications/lib/libcomm.a(dynamixel_master.o)
+ 0x00000000000037a8 dyn_master_start_timeout
+ 0x00000000000037ce dyn_master_cancel_timeout
+ 0x00000000000037d6 dyn_master_timeout
+ 0x00000000000037dc dyn_master_set_tx_mode
+ 0x00000000000037e2 dyn_master_set_rx_mode
+ 0x00000000000037e8 __vector_27
+ 0x000000000000386a __vector_25
+ 0x0000000000003920 dyn_master_wait_transmission
+ 0x000000000000392c dyn_master_send
+ 0x000000000000393e dyn_master_wait_reception
+ 0x0000000000003998 dyn_master_init
+ 0x00000000000039fa dyn_master_set_rx_timeout
+ 0x0000000000003a10 dyn_master_set_return_level
+ 0x0000000000003a16 dyn_master_get_return_level
+ 0x0000000000003a1c dyn_master_set_baudrate
+ 0x0000000000003a3a dyn_master_get_baudrate
+ 0x0000000000003a4c dyn_master_ping
+ 0x0000000000003a9e dyn_master_scan
+ 0x0000000000003ade dyn_master_read_table
+ 0x0000000000003b8c dyn_master_read_byte
+ 0x0000000000003b96 dyn_master_read_word
+ 0x0000000000003bd8 dyn_master_write_table
+ 0x0000000000003c76 dyn_master_write_byte
+ 0x0000000000003c98 dyn_master_write_word
+ 0x0000000000003cc0 dyn_master_reg_write
+ 0x0000000000003d60 dyn_master_action
+ 0x0000000000003da8 dyn_master_sync_write
+ 0x0000000000003e26 dyn_master_bulk_read
+ .text 0x0000000000003f9e 0x11c ../../communications/lib/libcomm.a(serial_console.o)
+ 0x0000000000003f9e serial_console_putchar
+ 0x0000000000003fc2 serial_console_getchar
+ 0x0000000000004000 __vector_36
+ 0x000000000000405e serial_console_set_baudrate
+ 0x000000000000407c serial_console_init
+ .text 0x00000000000040ba 0x4b8 ../../communications/lib/libcomm.a(dynamixel.o)
+ 0x00000000000040ba dyn_set_checksum
+ 0x00000000000040ee dyn_check_checksum
+ 0x0000000000004124 dyn_copy_packet
+ 0x0000000000004140 dyn_get_id
+ 0x0000000000004146 dyn_get_length
+ 0x000000000000414c dyn_get_instruction
+ 0x0000000000004152 dyn_init_ping_packet
+ 0x000000000000416a dyn_init_read_packet
+ 0x0000000000004186 dyn_get_read_length
+ 0x000000000000418c dyn_get_read_address
+ 0x0000000000004192 dyn_init_write_packet
+ 0x00000000000041d4 dyn_get_write_address
+ 0x00000000000041da dyn_get_write_length
+ 0x00000000000041e2 dyn_get_write_data
+ 0x000000000000421c dyn_init_reg_write_packet
+ 0x000000000000425e dyn_get_reg_write_address
+ 0x0000000000004264 dyn_get_reg_write_length
+ 0x000000000000426c dyn_get_reg_write_data
+ 0x00000000000042a6 dyn_init_action_packet
+ 0x00000000000042c0 dyn_init_reset_packet
+ 0x00000000000042d8 dyn_init_sync_write_packet
+ 0x0000000000004380 dyn_sync_write_id_present
+ 0x0000000000004418 dyn_init_bulk_read_packet
+ 0x0000000000004492 dyn_bulk_read_id_present
+ 0x00000000000044f4 dyn_init_status_packet
+ 0x0000000000004532 dyn_get_status_error
+ 0x0000000000004538 dyn_get_read_status_data
+ .text 0x0000000000004572 0x78a ../../dyn_devices/lib/libdyn_devices.a(dyn_servos.o)
+ 0x0000000000004572 get_angle_limits
+ 0x00000000000045b4 set_angle_limits
+ 0x00000000000045f6 get_temperature_limit
+ 0x0000000000004626 set_temperature_limit
+ 0x000000000000463e get_voltage_limits
+ 0x0000000000004680 set_voltage_limits
+ 0x00000000000046bc get_max_torque
+ 0x00000000000046f6 set_max_torque
+ 0x000000000000470e get_led_alarm
+ 0x000000000000473e set_led_alarm
+ 0x0000000000004756 get_shd_alarm
+ 0x0000000000004786 set_shd_alarm
+ 0x000000000000479e set_wheel_mode
+ 0x00000000000047d6 set_joint_mode
+ 0x000000000000480e is_joint_mode
+ 0x000000000000486a enable_servo
+ 0x0000000000004882 disable_servo
+ 0x000000000000489a is_servo_enabled
+ 0x00000000000048ca turn_servo_led_on
+ 0x00000000000048e2 turn_servo_led_off
+ 0x00000000000048fa is_servo_led_on
+ 0x000000000000492a get_compliance_margin
+ 0x000000000000496c set_compliance_margin
+ 0x00000000000049a8 get_compliance_slope
+ 0x00000000000049ea set_compliance_slope
+ 0x0000000000004a26 get_pid_params
+ 0x0000000000004a2a set_pid_params
+ 0x0000000000004a2e get_target_position
+ 0x0000000000004a68 set_target_position
+ 0x0000000000004a80 get_target_speed
+ 0x0000000000004aba set_target_speed
+ 0x0000000000004ad2 get_torque_limit
+ 0x0000000000004b0c set_torque_limit
+ 0x0000000000004b24 get_current_position
+ 0x0000000000004b5e get_current_speed
+ 0x0000000000004b98 get_current_load
+ 0x0000000000004bd2 get_current_voltage
+ 0x0000000000004c02 get_current_temperature
+ 0x0000000000004c32 is_moving
+ 0x0000000000004c62 is_locked
+ 0x0000000000004c92 lock
+ 0x0000000000004caa get_punch
+ 0x0000000000004ce4 set_punch
+ .text 0x0000000000004cfc 0xd6c ../../dyn_devices/lib/libdyn_devices.a(exp_board.o)
+ 0x0000000000004cfc exp_board_loop
+ 0x0000000000004d10 exp_board_init
+ 0x0000000000004dc2 exp_board_is_present
+ 0x0000000000004dc8 exp_adc_start
+ 0x0000000000004de4 exp_adc_stop
+ 0x0000000000004e00 exp_adc_is_running
+ 0x0000000000004e3a exp_adc_set_average_samples
+ 0x0000000000004e56 exp_adc_get_average_samples
+ 0x0000000000004e8a exp_adc_set_sample_period
+ 0x0000000000004ea6 exp_adc_get_sample_period
+ 0x0000000000004eda exp_adc_get_channel
+ 0x0000000000004ef6 exp_adc_get_avg_channel
+ 0x0000000000004f12 exp_gpio_config
+ 0x0000000000004f3c exp_gpio_get_value
+ 0x0000000000004f48 exp_gpio_set_value
+ 0x0000000000004f72 exp_gpio_set_led
+ 0x0000000000004f8e exp_gpio_clear_led
+ 0x0000000000004faa exp_gpio_get_switches
+ 0x0000000000004fde exp_pwm_start
+ 0x0000000000005006 exp_pwm_stop
+ 0x000000000000502e exp_pwm_is_running
+ 0x000000000000506a exp_pwm_enable_ch
+ 0x00000000000050a2 exp_pwm_disable_ch
+ 0x00000000000050da exp_pwm_is_channel_enabled
+ 0x0000000000005136 exp_pwm_set_frequency
+ 0x000000000000515e exp_pwm_get_frequency
+ 0x000000000000519c exp_pwm_set_duty_cycle
+ 0x00000000000051ce exp_pwm_get_duty_cycle
+ 0x000000000000520c exp_dac_start
+ 0x0000000000005234 exp_dac_stop
+ 0x000000000000525c exp_dac_is_running
+ 0x0000000000005296 exp_dac_enable_ch
+ 0x00000000000052cc exp_dac_disable_ch
+ 0x0000000000005302 exp_dac_is_channel_enabled
+ 0x000000000000535e exp_dac_set_voltage
+ 0x00000000000053b6 exp_dac_get_voltage
+ 0x0000000000005418 exp_compass_start
+ 0x0000000000005434 exp_compass_stop
+ 0x0000000000005450 exp_compass_is_running
+ 0x000000000000548a exp_compass_start_calibration
+ 0x00000000000054a6 exp_compass_stop_calibration
+ 0x00000000000054c2 exp_compass_is_calibrating
+ 0x00000000000054fc exp_compass_get_heading
+ 0x0000000000005510 exp_compass_get_avg_heading
+ 0x0000000000005524 exp_compass_set_avg_samples
+ 0x0000000000005540 exp_compass_get_avg_samples
+ 0x0000000000005574 exp_uart_ttl_start
+ 0x000000000000559c exp_uart_ttl_stop
+ 0x00000000000055c4 exp_uart_ttl_is_running
+ 0x0000000000005600 exp_uart_ttl_set_baudrate
+ 0x0000000000005628 exp_uart_ttl_get_baudrate
+ 0x0000000000005666 exp_uart_ttl_send_byte
+ 0x000000000000568e exp_uart_ttl_is_sending
+ 0x00000000000056ca exp_uart_ttl_send_vector
+ 0x000000000000577c exp_uart_ttl_is_data_available
+ 0x00000000000057b8 exp_uart_ttl_receive_data
+ 0x00000000000057ee exp_uart_usb_start
+ 0x0000000000005816 exp_uart_usb_stop
+ 0x000000000000583e exp_uart_usb_is_running
+ 0x000000000000587a exp_uart_usb_set_baudrate
+ 0x00000000000058a2 exp_uart_usb_get_baudrate
+ 0x00000000000058e0 exp_uart_usb_send_byte
+ 0x0000000000005908 exp_uart_usb_is_sending
+ 0x0000000000005944 exp_uart_usb_send_vector
+ 0x00000000000059f6 exp_uart_usb_is_data_available
+ 0x0000000000005a32 exp_uart_usb_receive_data
+ .text 0x0000000000005a68 0xca ../../dyn_devices/lib/libdyn_devices.a(dyn_common.o)
+ 0x0000000000005a68 get_model_number
+ 0x0000000000005aa2 get_firmware_version
+ 0x0000000000005ad2 set_servo_id
+ 0x0000000000005aea get_baudrate
+ 0x0000000000005b1a set_baudrate
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+ .debug_frame 0x00000000000009b4 0x3cc ../../communications/lib/libcomm.a(dynamixel_master.o)
+ .debug_frame 0x0000000000000d80 0x84 ../../communications/lib/libcomm.a(serial_console.o)
+ .debug_frame 0x0000000000000e04 0x2b8 ../../communications/lib/libcomm.a(dynamixel.o)
+ .debug_frame 0x00000000000010bc 0x470 ../../dyn_devices/lib/libdyn_devices.a(dyn_servos.o)
+ .debug_frame 0x000000000000152c 0x630 ../../dyn_devices/lib/libdyn_devices.a(exp_board.o)
+ .debug_frame 0x0000000000001b5c 0x94 ../../dyn_devices/lib/libdyn_devices.a(dyn_common.o)
+
+.debug_str 0x0000000000000000 0x273d
+ *(.debug_str)
+ .debug_str 0x0000000000000000 0x257 movements.o
+ 0x2a3 (size before relaxing)
+ .debug_str 0x0000000000000257 0x309 mtn_library.o
+ 0x549 (size before relaxing)
+ .debug_str 0x0000000000000560 0x4c6 ../../motion/lib/libmotion_manager.a(action.o)
+ 0x5bf (size before relaxing)
+ .debug_str 0x0000000000000a26 0x61 ../../motion/lib/libmotion_manager.a(motion_pages.o)
+ 0x283 (size before relaxing)
+ .debug_str 0x0000000000000a87 0x2fe ../../motion/lib/libmotion_manager.a(balance.o)
+ 0x47e (size before relaxing)
+ .debug_str 0x0000000000000d85 0x21a ../../motion/lib/libmotion_manager.a(motion_manager.o)
+ 0x4b9 (size before relaxing)
+ .debug_str 0x0000000000000f9f 0x10f ../../controllers/lib/libcontrollers.a(cm510.o)
+ 0x243 (size before relaxing)
+ .debug_str 0x00000000000010ae 0xba ../../controllers/lib/libcontrollers.a(gpio.o)
+ 0x2cc (size before relaxing)
+ .debug_str 0x0000000000001168 0x100 ../../controllers/lib/libcontrollers.a(adc.o)
+ 0x367 (size before relaxing)
+ .debug_str 0x0000000000001268 0x13a ../../controllers/lib/libcontrollers.a(buzzer.o)
+ 0x300 (size before relaxing)
+ .debug_str 0x00000000000013a2 0xa1 ../../controllers/lib/libcontrollers.a(user_time.o)
+ 0x22a (size before relaxing)
+ .debug_str 0x0000000000001443 0x54c ../../communications/lib/libcomm.a(dynamixel_master.o)
+ 0x6d2 (size before relaxing)
+ .debug_str 0x000000000000198f 0xf8 ../../communications/lib/libcomm.a(serial_console.o)
+ 0x266 (size before relaxing)
+ .debug_str 0x0000000000001a87 0x214 ../../communications/lib/libcomm.a(dynamixel.o)
+ 0x502 (size before relaxing)
+ .debug_str 0x0000000000001c9b 0x30c ../../dyn_devices/lib/libdyn_devices.a(dyn_servos.o)
+ 0x49e (size before relaxing)
+ .debug_str 0x0000000000001fa7 0x755 ../../dyn_devices/lib/libdyn_devices.a(exp_board.o)
+ 0x9df (size before relaxing)
+ .debug_str 0x00000000000026fc 0x41 ../../dyn_devices/lib/libdyn_devices.a(dyn_common.o)
+ 0x1ec (size before relaxing)
+
+.debug_loc 0x0000000000000000 0x730a
+ *(.debug_loc)
+ .debug_loc 0x0000000000000000 0x22 movements.o
+ .debug_loc 0x0000000000000022 0x328 mtn_library.o
+ .debug_loc 0x000000000000034a 0x880 ../../motion/lib/libmotion_manager.a(action.o)
+ .debug_loc 0x0000000000000bca 0x1fa ../../motion/lib/libmotion_manager.a(motion_pages.o)
+ .debug_loc 0x0000000000000dc4 0x553 ../../motion/lib/libmotion_manager.a(balance.o)
+ .debug_loc 0x0000000000001317 0x445 ../../motion/lib/libmotion_manager.a(motion_manager.o)
+ .debug_loc 0x000000000000175c 0x503 ../../controllers/lib/libcontrollers.a(gpio.o)
+ .debug_loc 0x0000000000001c5f 0xb94 ../../controllers/lib/libcontrollers.a(adc.o)
+ .debug_loc 0x00000000000027f3 0x4d ../../controllers/lib/libcontrollers.a(buzzer.o)
+ .debug_loc 0x0000000000002840 0x4c ../../controllers/lib/libcontrollers.a(user_time.o)
+ .debug_loc 0x000000000000288c 0x1015 ../../communications/lib/libcomm.a(dynamixel_master.o)
+ .debug_loc 0x00000000000038a1 0xf0 ../../communications/lib/libcomm.a(serial_console.o)
+ .debug_loc 0x0000000000003991 0x1112 ../../communications/lib/libcomm.a(dynamixel.o)
+ .debug_loc 0x0000000000004aa3 0x1580 ../../dyn_devices/lib/libdyn_devices.a(dyn_servos.o)
+ .debug_loc 0x0000000000006023 0x1112 ../../dyn_devices/lib/libdyn_devices.a(exp_board.o)
+ .debug_loc 0x0000000000007135 0x1d5 ../../dyn_devices/lib/libdyn_devices.a(dyn_common.o)
+
+.debug_macinfo
+ *(.debug_macinfo)
+
+.debug_pubtypes
+ *(.debug_pubtypes)
+
+.debug_ranges 0x0000000000000000 0xf0
+ *(.debug_ranges)
+ .debug_ranges 0x0000000000000000 0x18 ../../controllers/lib/libcontrollers.a(cm510.o)
+ .debug_ranges 0x0000000000000018 0x30 ../../controllers/lib/libcontrollers.a(adc.o)
+ .debug_ranges 0x0000000000000048 0x18 ../../controllers/lib/libcontrollers.a(buzzer.o)
+ .debug_ranges 0x0000000000000060 0x18 ../../communications/lib/libcomm.a(dynamixel_master.o)
+ .debug_ranges 0x0000000000000078 0x48 ../../dyn_devices/lib/libdyn_devices.a(dyn_servos.o)
+ .debug_ranges 0x00000000000000c0 0x30 ../../dyn_devices/lib/libdyn_devices.a(exp_board.o)
+
+.debug_macro
+ *(.debug_macro)
+OUTPUT(movements.elf elf32-avr)
+LOAD linker stubs
diff --git a/examples/dexter/movements.o b/examples/dexter/movements.o
new file mode 100644
index 0000000000000000000000000000000000000000..5340afd3864e930413fffd15b41256a30bd10c7a
Binary files /dev/null and b/examples/dexter/movements.o differ
diff --git a/examples/dexter/mtn_library.c b/examples/dexter/mtn_library.c
new file mode 100644
index 0000000000000000000000000000000000000000..b2a085f1e5a97b3bce2af356d549cba01100885b
--- /dev/null
+++ b/examples/dexter/mtn_library.c
@@ -0,0 +1,451 @@
+#include <avr/io.h>
+#include "mtn_library.h"
+#include "action_id.h"
+#include "action.h"
+#include <stdio.h>
+
+// private variables
+typedef enum {mtn_fwd=0,mtn_bwd=1,mtn_turn_left=2,mtn_turn_right=3,mtn_left=4,mtn_right=5,mtn_fwd_turn_left=6,mtn_fwd_turn_right=7,
+ mtn_bwd_turn_left=8,mtn_bwd_turn_right=9,mtn_fwd_left=10,mtn_fwd_right=11,mtn_bwd_left=12,mtn_bwd_right=13,
+ mtn_fast_fwd=14,mtn_fast_bwd=15} mtn_t;
+typedef enum {idle,wait_start,wait_middle,wait_end} full_states;
+
+typedef struct{
+ uint8_t start_l;
+ uint8_t start_r;
+ uint8_t middle_l;
+ uint8_t middle_r;
+ uint8_t end_l;
+ uint8_t end_r;
+}TPages;
+
+uint8_t mtn_lib_stop;
+foot_t mtn_lib_start_foot;
+foot_t mtn_lib_current_foot;
+TPages mtn_pages[]={{F_S_L,F_S_R,F_M_L,F_M_R,F_E_L,F_E_R},
+ {B_S_L,B_S_R,B_M_L,B_M_R,B_E_L,B_E_R},
+ {LT_S_L,LT_S_R,LT_M_L,LT_M_R,LT_E_L,LT_E_R},
+ {RT_S_L,RT_S_R,RT_M_L,RT_M_R,RT_E_L,RT_E_R},
+ {L_S_L,L_S_R,L_M_L,L_M_R,L_E_L,L_E_R},
+ {R_S_L,R_S_R,R_M_L,R_M_R,R_E_L,R_E_R},
+ {FLT_S_L,FLT_S_R,FLT_M_L,FLT_M_R,FLT_E_L,FLT_E_R},
+ {FRT_S_L,FRT_S_R,FRT_M_L,FRT_M_R,FRT_E_L,FRT_E_R},
+ {BLT_S_L,BLT_S_R,BLT_M_L,BLT_M_R,BLT_E_L,BLT_E_R},
+ {BRT_S_L,BRT_S_R,BRT_M_L,BRT_M_R,BRT_E_L,BRT_E_R},
+ {FL_S_L,FL_S_R,FL_M_L,FL_M_R,FL_E_L,FL_E_R},
+ {FR_S_L,FR_S_R,FR_M_L,FR_M_R,FR_E_L,FR_E_R},
+ {BL_S_L,BL_S_R,BL_M_L,BL_M_R,BL_E_L,BL_E_R},
+ {BR_S_L,BR_S_R,BR_M_L,BR_M_R,BR_E_L,BR_E_R},
+ {fst_F_L_S,fst_F_R_S,fst_F_R_L_M,fst_F_L_R_M,fst_F_R_E,fst_F_L_E},
+ {fst_B_L_S,fst_B_R_S,fst_B_L_M,fst_B_R_M,fst_B_L_E,fst_B_R_E}};
+
+/* private functions */
+uint8_t mtn_lib_full(TPages *pages)
+{
+ static full_states state=idle;
+ uint8_t done=0x00;
+
+ switch(state)
+ {
+ case idle: if(mtn_lib_start_foot==left_foot)
+ action_set_page(pages->start_l);
+ else
+ action_set_page(pages->start_r);
+ action_start_page();
+ mtn_lib_current_foot=mtn_lib_start_foot;
+ state=wait_start;
+ break;
+ case wait_start: if(is_action_running())
+ state=wait_start;
+ else
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ action_set_page(pages->end_r);
+ mtn_lib_current_foot=right_foot;
+ }
+ else
+ {
+ action_set_page(pages->end_l);
+ mtn_lib_current_foot=left_foot;
+ }
+ action_start_page();
+ state=wait_end;
+ }
+ else
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ action_set_page(pages->middle_r);
+ mtn_lib_current_foot=right_foot;
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ mtn_lib_current_foot=left_foot;
+ }
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_middle: if(is_action_running())
+ state=wait_middle;
+ else
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ action_set_page(pages->end_r);
+ mtn_lib_current_foot=right_foot;
+ }
+ else
+ {
+ action_set_page(pages->end_l);
+ mtn_lib_current_foot=left_foot;
+ }
+ action_start_page();
+ state=wait_end;
+ }
+ else
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ action_set_page(pages->middle_r);
+ mtn_lib_current_foot=right_foot;
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ mtn_lib_current_foot=left_foot;
+ }
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_end: if(is_action_running())
+ state=wait_end;
+ else
+ {
+ mtn_lib_stop=0x00;
+ state=idle;
+ done=0x01;
+ }
+ break;
+ }
+
+ return done;
+}
+
+uint8_t mtn_lib_left(TPages *pages)
+{
+ static full_states state=idle;
+ uint8_t done=0x00;
+
+ switch(state)
+ {
+ case idle: if(mtn_lib_start_foot==left_foot)
+ action_set_page(pages->start_l);
+ else
+ action_set_page(pages->start_r);
+ action_start_page();
+ mtn_lib_current_foot=mtn_lib_start_foot;
+ state=wait_start;
+ break;
+ case wait_start: if(is_action_running())
+ state=wait_start;
+ else
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ action_set_page(pages->end_r);
+ state=wait_end;
+ }
+ else
+ {
+ action_set_page(pages->middle_r);
+ state=wait_middle;
+ }
+ mtn_lib_current_foot=right_foot;
+ action_start_page();
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ mtn_lib_current_foot=left_foot;
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_middle: if(is_action_running())
+ state=wait_middle;
+ else
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ action_set_page(pages->end_r);
+ state=wait_end;
+ }
+ else
+ {
+ action_set_page(pages->middle_r);
+ state=wait_middle;
+ }
+ mtn_lib_current_foot=right_foot;
+ action_start_page();
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ mtn_lib_current_foot=left_foot;
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_end: if(is_action_running())
+ state=wait_end;
+ else
+ {
+ mtn_lib_stop=0x00;
+ state=idle;
+ done=0x01;
+ }
+ break;
+ }
+
+ return done;
+}
+
+uint8_t mtn_lib_right(TPages *pages)
+{
+ static full_states state=idle;
+ uint8_t done=0x00;
+
+ switch(state)
+ {
+ case idle: if(mtn_lib_start_foot==left_foot)
+ action_set_page(pages->start_l);
+ else
+ action_set_page(pages->start_r);
+ action_start_page();
+ mtn_lib_current_foot=mtn_lib_start_foot;
+ state=wait_start;
+ break;
+ case wait_start: if(is_action_running())
+ state=wait_start;
+ else
+ {
+ if(mtn_lib_current_foot==right_foot)
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ action_set_page(pages->end_l);
+ state=wait_end;
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ state=wait_middle;
+ }
+ mtn_lib_current_foot=left_foot;
+ action_start_page();
+ }
+ else
+ {
+ action_set_page(pages->middle_r);
+ mtn_lib_current_foot=right_foot;
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_middle: if(is_action_running())
+ state=wait_middle;
+ else
+ {
+ if(mtn_lib_current_foot==right_foot)
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ action_set_page(pages->end_l);
+ state=wait_end;
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ state=wait_middle;
+ }
+ mtn_lib_current_foot=left_foot;
+ action_start_page();
+ }
+ else
+ {
+ action_set_page(pages->middle_r);
+ mtn_lib_current_foot=right_foot;
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_end: if(is_action_running())
+ state=wait_end;
+ else
+ {
+ mtn_lib_stop=0x00;
+ state=idle;
+ done=0x01;
+ }
+ break;
+ }
+
+ return done;
+}
+
+/* public functions */
+void mtn_lib_init(void)
+{
+ mtn_lib_stop=0x00;
+ mtn_lib_start_foot=left_foot;
+ mtn_lib_current_foot=left_foot;
+}
+
+void mtn_lib_stop_mtn(void)
+{
+ mtn_lib_stop=0x01;
+}
+
+void mtn_lib_set_start_foot(foot_t foot)
+{
+ mtn_lib_start_foot=foot;
+}
+
+uint8_t walk_forward(void)
+{
+ return mtn_lib_full(&mtn_pages[mtn_fwd]);
+}
+
+uint8_t walk_backward(void)
+{
+ return mtn_lib_full(&mtn_pages[mtn_bwd]);
+}
+
+uint8_t turn_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_turn_left]);
+}
+
+uint8_t turn_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_turn_right]);
+}
+
+uint8_t walk_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_left]);
+}
+
+uint8_t walk_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_right]);
+}
+
+uint8_t walk_forward_turn_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_fwd_turn_left]);
+}
+
+uint8_t walk_forward_turn_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_fwd_turn_right]);
+}
+
+uint8_t walk_backward_turn_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_bwd_turn_left]);
+}
+
+uint8_t walk_backward_turn_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_bwd_turn_right]);
+}
+
+uint8_t walk_forward_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_fwd_left]);
+}
+
+uint8_t walk_forward_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_fwd_right]);
+}
+
+uint8_t walk_backward_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_bwd_left]);
+}
+
+uint8_t walk_backward_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_bwd_right]);
+}
+
+
+uint8_t fast_walk_forward(void)
+{
+ return mtn_lib_full(&mtn_pages[mtn_fast_fwd]);
+}
+
+uint8_t fast_walk_backward(void)
+{
+ return mtn_lib_full(&mtn_pages[mtn_fast_bwd]);
+}
+
+uint8_t fast_turn_left(void)
+{
+
+}
+
+uint8_t fast_turn_right(void)
+{
+
+}
+
+uint8_t fast_walk_left(void)
+{
+}
+
+uint8_t fast_walk_right(void)
+{
+}
+
+uint8_t fast_walk_forward_turn_left(void)
+{
+
+}
+
+uint8_t fast_walk_forward_turn_right(void)
+{
+
+}
+
+uint8_t fast_walk_backward_turn_left(void)
+{
+
+}
+
+uint8_t fast_walk_backward_turn_right(void)
+{
+
+}
+
+
diff --git a/examples/dexter/mtn_library.c~ b/examples/dexter/mtn_library.c~
new file mode 100644
index 0000000000000000000000000000000000000000..a73e89bbb99e72d928e5945d1fdc5eabd873040f
--- /dev/null
+++ b/examples/dexter/mtn_library.c~
@@ -0,0 +1,453 @@
+#include <avr/io.h>
+#include "mtn_library.h"
+#include "action_id.h"
+#include "action.h"
+#include <stdio.h>
+
+// private variables
+typedef enum {mtn_fwd=0,mtn_bwd=1,mtn_turn_left=2,mtn_turn_right=3,mtn_left=4,mtn_right=5,mtn_fwd_turn_left=6,mtn_fwd_turn_right=7,
+ mtn_bwd_turn_left=8,mtn_bwd_turn_right=9,mtn_fwd_left=10,mtn_fwd_right=11,mtn_bwd_left=12,mtn_bwd_right=13,
+ mtn_fast_fwd=14,mtn_fast_bwd=15} mtn_t;
+typedef enum {idle,wait_start,wait_middle,wait_end} full_states;
+
+typedef struct{
+ uint8_t start_l;
+ uint8_t start_r;
+ uint8_t middle_l;
+ uint8_t middle_r;
+ uint8_t end_l;
+ uint8_t end_r;
+}TPages;
+
+uint8_t mtn_lib_stop;
+foot_t mtn_lib_start_foot;
+foot_t mtn_lib_current_foot;
+TPages mtn_pages[]={{F_S_L,F_S_R,F_M_L,F_M_R,F_E_L,F_E_R},
+ {B_S_L,B_S_R,B_M_L,B_M_R,B_E_L,B_E_R},
+ {LT_S_L,LT_S_R,LT_M_L,LT_M_R,LT_E_L,LT_E_R},
+ {RT_S_L,RT_S_R,RT_M_L,RT_M_R,RT_E_L,RT_E_R},
+ {L_S_L,L_S_R,L_M_L,L_M_R,L_E_L,L_E_R},
+ {R_S_L,R_S_R,R_M_L,R_M_R,R_E_L,R_E_R},
+ {FLT_S_L,FLT_S_R,FLT_M_L,FLT_M_R,FLT_E_L,FLT_E_R},
+ {FRT_S_L,FRT_S_R,FRT_M_L,FRT_M_R,FRT_E_L,FRT_E_R},
+ {BLT_S_L,BLT_S_R,BLT_M_L,BLT_M_R,BLT_E_L,BLT_E_R},
+ {BRT_S_L,BRT_S_R,BRT_M_L,BRT_M_R,BRT_E_L,BRT_E_R},
+ {FL_S_L,FL_S_R,FL_M_L,FL_M_R,FL_E_L,FL_E_R},
+ {FR_S_L,FR_S_R,FR_M_L,FR_M_R,FR_E_L,FR_E_R},
+ {BL_S_L,BL_S_R,BL_M_L,BL_M_R,BL_E_L,BL_E_R},
+ {BR_S_L,BR_S_R,BR_M_L,BR_M_R,BR_E_L,BR_E_R},
+ {fst_F_L_S,fst_F_R_S,fst_F_R_L_M,fst_F_L_R_M,fst_F_R_E,fst_F_L_E},
+ {fst_B_L_S,fst_B_R_S,fst_B_L_M,fst_B_R_M,fst_B_L_E,fst_B_R_E}};
+
+/* private functions */
+uint8_t mtn_lib_full(TPages *pages)
+{
+ static full_states state=idle;
+ uint8_t done=0x00;
+
+ switch(state)
+ {
+ case idle: if(mtn_lib_start_foot==left_foot)
+ action_set_page(pages->start_l);
+ else
+ action_set_page(pages->start_r);
+ action_start_page();
+ mtn_lib_current_foot=mtn_lib_start_foot;
+ state=wait_start;
+ break;
+ case wait_start: if(is_action_running())
+ state=wait_start;
+ else
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ action_set_page(pages->end_r);
+ mtn_lib_current_foot=right_foot;
+ }
+ else
+ {
+ action_set_page(pages->end_l);
+ mtn_lib_current_foot=left_foot;
+ }
+ action_start_page();
+ state=wait_end;
+ }
+ else
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ action_set_page(pages->middle_r);
+ mtn_lib_current_foot=right_foot;
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ mtn_lib_current_foot=left_foot;
+ }
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_middle: if(is_action_running())
+ state=wait_middle;
+ else
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ action_set_page(pages->end_r);
+ mtn_lib_current_foot=right_foot;
+ }
+ else
+ {
+ action_set_page(pages->end_l);
+ mtn_lib_current_foot=left_foot;
+ }
+ action_start_page();
+ state=wait_end;
+ }
+ else
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ action_set_page(pages->middle_r);
+ mtn_lib_current_foot=right_foot;
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ mtn_lib_current_foot=left_foot;
+ }
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_end: if(is_action_running())
+ state=wait_end;
+ else
+ {
+ mtn_lib_stop=0x00;
+ state=idle;
+ done=0x01;
+ }
+ break;
+ }
+
+ return done;
+}
+
+uint8_t mtn_lib_left(TPages *pages)
+{
+ static full_states state=idle;
+ uint8_t done=0x00;
+
+ switch(state)
+ {
+ case idle: if(mtn_lib_start_foot==left_foot)
+ action_set_page(pages->start_l);
+ else
+ action_set_page(pages->start_r);
+ action_start_page();
+ mtn_lib_current_foot=mtn_lib_start_foot;
+ state=wait_start;
+ break;
+ case wait_start: if(is_action_running())
+ state=wait_start;
+ else
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ action_set_page(pages->end_r);
+ state=wait_end;
+ }
+ else
+ {
+ action_set_page(pages->middle_r);
+ state=wait_middle;
+ }
+ mtn_lib_current_foot=right_foot;
+ action_start_page();
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ mtn_lib_current_foot=left_foot;
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_middle: if(is_action_running())
+ state=wait_middle;
+ else
+ {
+ if(mtn_lib_current_foot==left_foot)
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ action_set_page(pages->end_r);
+ state=wait_end;
+ }
+ else
+ {
+ action_set_page(pages->middle_r);
+ state=wait_middle;
+ }
+ mtn_lib_current_foot=right_foot;
+ action_start_page();
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ mtn_lib_current_foot=left_foot;
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_end: if(is_action_running())
+ state=wait_end;
+ else
+ {
+ mtn_lib_stop=0x00;
+ state=idle;
+ done=0x01;
+ }
+ break;
+ }
+
+ return done;
+}
+
+uint8_t mtn_lib_right(TPages *pages)
+{
+ static full_states state=idle;
+ uint8_t done=0x00;
+
+ switch(state)
+ {
+ case idle: if(mtn_lib_start_foot==left_foot)
+ action_set_page(pages->start_l);
+ else
+ action_set_page(pages->start_r);
+ action_start_page();
+ mtn_lib_current_foot=mtn_lib_start_foot;
+ state=wait_start;
+ break;
+ case wait_start: if(is_action_running())
+ state=wait_start;
+ else
+ {
+ if(mtn_lib_current_foot==right_foot)
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ action_set_page(pages->end_l);
+ state=wait_end;
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ state=wait_middle;
+ }
+ mtn_lib_current_foot=left_foot;
+ action_start_page();
+ }
+ else
+ {
+ action_set_page(pages->middle_r);
+ mtn_lib_current_foot=right_foot;
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_middle: if(is_action_running())
+ state=wait_middle;
+ else
+ {
+ if(mtn_lib_current_foot==right_foot)
+ {
+ if(mtn_lib_stop==0x01)
+ {
+ action_set_page(pages->end_l);
+ state=wait_end;
+ }
+ else
+ {
+ action_set_page(pages->middle_l);
+ state=wait_middle;
+ }
+ mtn_lib_current_foot=left_foot;
+ action_start_page();
+ }
+ else
+ {
+ action_set_page(pages->middle_r);
+ mtn_lib_current_foot=right_foot;
+ action_start_page();
+ state=wait_middle;
+ }
+ }
+ break;
+ case wait_end: if(is_action_running())
+ state=wait_end;
+ else
+ {
+ mtn_lib_stop=0x00;
+ state=idle;
+ done=0x01;
+ }
+ break;
+ }
+
+ return done;
+}
+
+/* public functions */
+void mtn_lib_init(void)
+{
+ mtn_lib_stop=0x00;
+ mtn_lib_start_foot=left_foot;
+ mtn_lib_current_foot=left_foot;
+}
+
+void mtn_lib_stop_mtn(void)
+{
+ mtn_lib_stop=0x01;
+}
+
+void mtn_lib_set_start_foot(foot_t foot)
+{
+ mtn_lib_start_foot=foot;
+}
+
+uint8_t walk_forward(void)
+{
+ return mtn_lib_full(&mtn_pages[mtn_fwd]);
+}
+
+uint8_t walk_backward(void)
+{
+ return mtn_lib_full(&mtn_pages[mtn_bwd]);
+}
+
+uint8_t turn_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_turn_left]);
+}
+
+uint8_t turn_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_turn_right]);
+}
+
+uint8_t walk_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_left]);
+}
+
+uint8_t walk_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_right]);
+}
+
+uint8_t walk_forward_turn_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_fwd_turn_left]);
+}
+
+uint8_t walk_forward_turn_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_fwd_turn_right]);
+}
+
+uint8_t walk_backward_turn_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_bwd_turn_left]);
+}
+
+uint8_t walk_backward_turn_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_bwd_turn_right]);
+}
+
+uint8_t walk_forward_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_fwd_left]);
+}
+
+uint8_t walk_forward_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_fwd_right]);
+}
+
+uint8_t walk_backward_left(void)
+{
+ return mtn_lib_left(&mtn_pages[mtn_bwd_left]);
+}
+
+uint8_t walk_backward_right(void)
+{
+ return mtn_lib_right(&mtn_pages[mtn_bwd_right]);
+}
+
+
+uint8_t fast_walk_forward(void)
+{
+ return mtn_lib_full(&mtn_pages[mtn_fast_fwd]);
+}
+
+uint8_t fast_walk_backward(void)
+{
+ return mtn_lib_full(&mtn_pages[mtn_fast_bwd]);
+}
+
+uint8_t fast_turn_left(void)
+{
+return 1;
+}
+
+uint8_t fast_turn_right(void)
+{
+return 1;
+}
+
+uint8_t fast_walk_left(void)
+{
+return 1;
+}
+
+uint8_t fast_walk_right(void)
+{
+return 1;
+}
+
+uint8_t fast_walk_forward_turn_left(void)
+{
+return 1;
+}
+
+uint8_t fast_walk_forward_turn_right(void)
+{
+return 1;
+}
+
+uint8_t fast_walk_backward_turn_left(void)
+{
+return 1;
+}
+
+uint8_t fast_walk_backward_turn_right(void)
+{
+return 1;
+}
+
+
diff --git a/examples/dexter/mtn_library.h b/examples/dexter/mtn_library.h
new file mode 100644
index 0000000000000000000000000000000000000000..c23f1609c6e48e5b9e88137345569a3620a7d54e
--- /dev/null
+++ b/examples/dexter/mtn_library.h
@@ -0,0 +1,36 @@
+#ifndef _MTN_LIBRARY_H
+#define _MTN_LIBRARY_H
+
+typedef enum {left_foot,right_foot} foot_t;
+
+void mtn_lib_init(void);
+void mtn_lib_stop_mtn(void);
+void mtn_lib_set_start_foot(foot_t foot);
+
+uint8_t walk_forward(void);
+uint8_t walk_backward(void);
+uint8_t turn_left(void);
+uint8_t turn_right(void);
+uint8_t walk_left(void);
+uint8_t walk_right(void);
+uint8_t walk_forward_turn_left(void);
+uint8_t walk_forward_turn_right(void);
+uint8_t walk_backward_turn_left(void);
+uint8_t walk_backward_turn_right(void);
+uint8_t walk_forward_left(void);
+uint8_t walk_forward_right(void);
+uint8_t walk_backward_left(void);
+uint8_t walk_backward_right(void);
+
+uint8_t fast_walk_forward(void);
+uint8_t fast_walk_backward(void);
+uint8_t fast_turn_left(void);
+uint8_t fast_turn_right(void);
+uint8_t fast_walk_left(void);
+uint8_t fast_walk_right(void);
+uint8_t fast_walk_forward_turn_left(void);
+uint8_t fast_walk_forward_turn_right(void);
+uint8_t fast_walk_backward_turn_left(void);
+uint8_t fast_walk_backward_turn_right(void);
+
+#endif
diff --git a/examples/dexter/mtn_library.o b/examples/dexter/mtn_library.o
new file mode 100644
index 0000000000000000000000000000000000000000..3463872a41538f0675221c56fe01c110d1894069
Binary files /dev/null and b/examples/dexter/mtn_library.o differ
diff --git a/examples/dexter/useful/action_id.h b/examples/dexter/useful/action_id.h
new file mode 100644
index 0000000000000000000000000000000000000000..88233b218f16adf55ccb12f2cfa71702db0a06cd
--- /dev/null
+++ b/examples/dexter/useful/action_id.h
@@ -0,0 +1,133 @@
+#ifndef _ACTION_ID_H
+#define _ACTION_ID_H
+
+#define BOW 1
+#define fst_F_R_S 3
+#define fst_F_L_S 4
+#define fst_F_R_L_M 5
+#define fst_F_L_R_M 6
+#define fst_F_R_E 7
+#define fst_F_L_E 8
+#define fst_FRT_R_M 9
+#define fst_FLT_L_M 10
+#define fst_B_R_S 11
+#define fst_B_L_S 12
+#define fst_B_R_M 13
+#define fst_B_L_M 14
+#define fst_B_R_E 15
+#define fst_B_L_E 16
+#define fst_RFT 17
+#define fst_LFT 18
+#define fst_RBT 19
+#define fst_LBT 20
+#define fst_R 21
+#define fst_L 22
+#define fst_RT 23
+#define fst_LT 24
+#define sit_down 25
+#define stand_up 26
+#define F_getup 27
+#define B_getup 28
+#define Fst_Ready 30
+#define walk_ready 31
+#define F_S_L 32
+#define F_S_R 34
+#define F_M_L 36
+#define F_M_R 38
+#define F_E_L 40
+#define F_E_R 42
+#define B_S_L 44
+#define B_S_R 46
+#define B_M_L 48
+#define B_M_R 50
+#define B_E_L 52
+#define B_E_R 54
+#define LT_S_L 56
+#define LT_S_R 58
+#define LT_M_L 60
+#define LT_M_R 62
+#define LT_E_L 64
+#define LT_E_R 66
+#define RT_S_L 68
+#define RT_S_R 70
+#define RT_M_L 72
+#define RT_M_R 74
+#define RT_E_L 76
+#define RT_E_R 78
+#define L_S_L 80
+#define L_S_R 82
+#define L_M_L 84
+#define L_M_R 86
+#define L_E_L 88
+#define L_E_R 90
+#define R_S_L 92
+#define R_S_R 94
+#define R_M_L 96
+#define R_M_R 98
+#define R_E_L 100
+#define R_E_R 102
+#define FLT_S_L 104
+#define FLT_S_R 106
+#define FLT_M_L 108
+#define FLT_M_R 110
+#define FLT_E_L 112
+#define FLT_E_R 114
+#define FRT_S_L 116
+#define FRT_S_R 118
+#define FRT_M_L 120
+#define FRT_M_R 122
+#define FRT_E_L 124
+#define FRT_E_R 126
+#define BLT_S_L 128
+#define BLT_S_R 130
+#define BLT_M_L 132
+#define BLT_M_R 134
+#define BLT_E_L 136
+#define BLT_E_R 138
+#define BRT_S_L 140
+#define BRT_S_R 142
+#define BRT_M_L 144
+#define BRT_M_R 146
+#define BRT_E_L 148
+#define BRT_E_R 150
+#define LTA_S_L 152
+#define LTA_S_R 154
+#define LTA_M_L 156
+#define LTA_M_R 158
+#define LTA_E_L 160
+#define LTA_E_R 162
+#define RTA_S_L 164
+#define RTA_S_R 166
+#define RTA_M_L 168
+#define RTA_M_R 170
+#define RTA_E_L 172
+#define RTA_E_R 174
+#define FL_S_L 176
+#define FL_S_R 178
+#define FL_M_L 180
+#define FL_M_R 182
+#define FL_E_L 184
+#define FL_E_R 186
+#define FR_S_L 188
+#define FR_S_R 190
+#define FR_M_L 192
+#define FR_M_R 194
+#define FR_E_L 196
+#define FR_E_R 198
+#define BL_S_L 200
+#define BL_S_R 202
+#define BL_M_L 204
+#define BL_M_R 206
+#define BL_E_L 208
+#define BL_E_R 210
+#define BR_S_L 212
+#define BR_S_R 214
+#define BR_M_L 216
+#define BR_M_R 218
+#define BR_E_L 220
+#define BR_E_R 222
+
+
+
+
+#endif
diff --git a/examples/dexter/useful/mtn_library.h b/examples/dexter/useful/mtn_library.h
new file mode 100644
index 0000000000000000000000000000000000000000..c23f1609c6e48e5b9e88137345569a3620a7d54e
--- /dev/null
+++ b/examples/dexter/useful/mtn_library.h
@@ -0,0 +1,36 @@
+#ifndef _MTN_LIBRARY_H
+#define _MTN_LIBRARY_H
+
+typedef enum {left_foot,right_foot} foot_t;
+
+void mtn_lib_init(void);
+void mtn_lib_stop_mtn(void);
+void mtn_lib_set_start_foot(foot_t foot);
+
+uint8_t walk_forward(void);
+uint8_t walk_backward(void);
+uint8_t turn_left(void);
+uint8_t turn_right(void);
+uint8_t walk_left(void);
+uint8_t walk_right(void);
+uint8_t walk_forward_turn_left(void);
+uint8_t walk_forward_turn_right(void);
+uint8_t walk_backward_turn_left(void);
+uint8_t walk_backward_turn_right(void);
+uint8_t walk_forward_left(void);
+uint8_t walk_forward_right(void);
+uint8_t walk_backward_left(void);
+uint8_t walk_backward_right(void);
+
+uint8_t fast_walk_forward(void);
+uint8_t fast_walk_backward(void);
+uint8_t fast_turn_left(void);
+uint8_t fast_turn_right(void);
+uint8_t fast_walk_left(void);
+uint8_t fast_walk_right(void);
+uint8_t fast_walk_forward_turn_left(void);
+uint8_t fast_walk_forward_turn_right(void);
+uint8_t fast_walk_backward_turn_left(void);
+uint8_t fast_walk_backward_turn_right(void);
+
+#endif