From faec8d64f3edde74fc5d0cdb0437e262e29dc19a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Antoni=20Gab=C3=A1s?= <agabas@iri.upc.edu>
Date: Thu, 31 Mar 2016 15:03:43 +0000
Subject: [PATCH] [bioloid_robot] Added the expansion board firmware for
completeness
---
motion/src/examples/main.c | 21 ++++-----------------
1 file changed, 4 insertions(+), 17 deletions(-)
diff --git a/motion/src/examples/main.c b/motion/src/examples/main.c
index 49d5cb1..c52fc01 100644
--- a/motion/src/examples/main.c
+++ b/motion/src/examples/main.c
@@ -12,6 +12,7 @@ int main(void)
unsigned char cmd;
int n_servos = 18;
init_cm510(ASYNC);
+ exp_board_init(192);
manager_init(n_servos);
serial_initialize(57600);
@@ -23,23 +24,9 @@ int main(void)
while(1)
{
- scanf("%c",&cmd);// read a command from the external controller
- switch(cmd)
- {
- case 'l': action_set_page(56);
- action_start_page();
- printf("l");
- break;
- case 'r': action_set_page(70);
- action_start_page();
- printf("r");
- break;
- case 's': action_stop_page();
- printf("s");
- while(is_action_running());
- printf("d");
- break;
- }
+ unsigned short int heading = get_avg_heading();
+ printf("heading: %d\n",heading);
+ _delay_ms(500);
}
/* if(manager_calibrate_gyro())
--
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