Diff: SequenceController/SequenceController.cpp

Revision:

85:dd8176285b6e

Parent:

82:0981b9ada820

Child:

86:ba3a118b0080

--- a/SequenceController/SequenceController.cpp	Tue Feb 19 20:11:43 2019 +0000
+++ b/SequenceController/SequenceController.cpp	Mon Feb 25 21:26:34 2019 +0000
@@ -237,15 +237,15 @@
     else {return 0; }
 }
 
-legStruct LegController::load_def_leg() {
+legStruct LegController::load_def_leg() {  // default leg structure and if used, will NOT start leg mode
     legStruct loadStruct;
     
-    loadStruct.title = "leg";
-    loadStruct.state = LEG_POSITION_DIVE;
+    loadStruct.title = "sit_idle";
+    loadStruct.state = SIT_IDLE ;    //    LEG_POSITION_DIVE;
     loadStruct.max_depth = 15;
     loadStruct.min_depth =  5;
-    loadStruct.yo_time =  200;
-    loadStruct.timeout =  1800;
+    loadStruct.yo_time =  100;
+    loadStruct.timeout =  600;
     loadStruct.heading =  90; 
     return loadStruct;
 }    
@@ -260,7 +260,7 @@
     char bux2[256];
     /* CONVERT STRING TO CHAR ARRAY */
     
-    /* DIVE */
+    /* leg position DIVing */
     //this can only be in the first position
     if ((signed int) randomstring.find("leg") != -1) {
         loadStruct.title = "leg";
@@ -268,15 +268,15 @@
         sprintf(bux2, "\n\r process leg file: found leg label, setting state to LEG_POSITION_DIVE");
                 mbedLogger().appendDiagFile(bux2,3);
     }
-    /* DIVE */
+    /* LPD */
     
-    /* PITCH */
+    /* neutral */
     if ((signed int) randomstring.find("neutral") != -1) {
         loadStruct.title = "neutral";
         xbee().printf("\n\rLOAD neutral. %d", randomstring.find("neutral"));
         loadStruct.state = FIND_NEUTRAL;
     }
-    /* PITCH */
+    /* neutral */
     
     /* EXIT */
     if ((signed int) randomstring.find("exit") != -1) {
@@ -362,7 +362,7 @@
     }
     /* PAUSE */
     
-    /* TIME TO FLOAT */
+    /* TIME TO maintain leg yo-yo operations */
     if ((signed int) randomstring.find("timeout") != -1) { 
            
         int time_pos = randomstring.find("timeout") + 8;    //position of timeout + "timeout=" so 8