void main(void) {
WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
// Set both clocks to 1MHZ
BCSCTL1 = CALBC1_1MHZ;
DCOCTL = CALDCO_1MHZ;
// Initialize ports & hardware
initLEDs();
initKeypad();
initPWM_TA0();
initPWM_TA1();
__bis_SR_register(GIE); // Enable interrupts
while(1){
unsigned int i, j;
for (i = 0; i < 4; i ++){
// find row of pressed button
P1OUT |= muxRow[i]; // set P1OUT to current test
for (j = 0; j < 4; j ++) {
// find column of pressed button
if ((P2IN & 0xFF) == cols[j]){
// yay! we found the button
cmdVal = commands[j][i];
moveServos(cmdVal);
}
}// end for(col)
P1OUT &=~ muxRow[i]; // reset P1OUT for next test
} // end for(row)
} // end while(1)
} // end main()
void Zowi::jump(float steps, int T){
int up[]={90,90,150,30};
moveServos(T,up);
int down[]={90,90,90,90};
moveServos(T,down);
}
