Diff: Sequences.cpp

Revision:

11:3a2e6eb9fbb8

Parent:

10:9b21566a5ddb

Child:

13:ffeff9b5e513

--- a/Sequences.cpp	Wed Jan 06 00:58:41 2016 +0000
+++ b/Sequences.cpp	Wed Jan 06 22:25:51 2016 +0000
@@ -28,7 +28,7 @@
     float fastwaveUpPositions[] = { NoMove, 135.0f, NoMove, NoMove, NoMove };
     float fastwaveDownPositions[] = { NoMove, 225.0f, NoMove, NoMove, NoMove };
     
-    float tapStartPositions[] = { RightPos, 135.0f, 225.0f, 180.0f, 180.0f };
+    float tapStartPositions[] = { RightPos, 180.0f, 270.0f, 180.0f, 180.0f };
     float tap1Positions[] = { 60.2f, NoMove, NoMove, NoMove, NoMove };
     float tap2Positions[] = { 68.7f, NoMove, NoMove, NoMove, NoMove };
     float tap3Positions[] = { 77.2f, NoMove, NoMove, NoMove, NoMove };
@@ -44,8 +44,8 @@
     ActionSequence moveDown(SA_SetGoal, partSize, downPositions, 1000);
     ActionSequence waveUp(SA_SetGoal, partSize, waveUpPositions, 1000);
     ActionSequence waveDown(SA_SetGoal, partSize, waveDownPositions, 1000);
-    ActionSequence fastwaveUp(SA_SetGoal, partSize, fastwaveUpPositions, 200);
-    ActionSequence fastwaveDown(SA_SetGoal, partSize, fastwaveDownPositions, 200);
+    ActionSequence fastwaveUp(SA_SetGoal, partSize, fastwaveUpPositions, 400);
+    ActionSequence fastwaveDown(SA_SetGoal, partSize, fastwaveDownPositions, 400);
     ActionSequence tapsStart(SA_SetGoal, partSize, tapStartPositions, 1000);
     ActionSequence taps1(SA_SetGoal, partSize, tap1Positions, 200);
     ActionSequence taps2(SA_SetGoal, partSize, tap2Positions, 200);
@@ -77,7 +77,7 @@
     
     // add actions into StartSeq
     StartSeq.clear();
-    StartSeq.push_back(moveStart);
+    StartSeq.push_back(moveUp);
     StartSeq.push_back(report);
     
     // add actions into WaveSeq
@@ -89,6 +89,7 @@
     WaveSeq.push_back(waveDown);
     WaveSeq.push_back(report);
     WaveSeq.push_back(loopEnd);
+    WaveSeq.push_back(moveUp);
     
     // add actions into UpDownSeq
     UpDownSeq.clear();
@@ -97,6 +98,9 @@
     UpDownSeq.push_back(pause1);
     UpDownSeq.push_back(moveDown);
     UpDownSeq.push_back(report);
+    UpDownSeq.push_back(moveUp);
+    UpDownSeq.push_back(pause1);
+    UpDownSeq.push_back(report);
     
     // add actions into RightStepsSeq
     // move to vertical, then move each part one at a time, then return to home
@@ -153,6 +157,7 @@
     TapsSeq.push_back(tapDown);
     TapsSeq.push_back(tapUp);
     TapsSeq.push_back(report);
+    TapsSeq.push_back(moveUp);
 
     // add actions into FastWaveSeq
     FastWaveSeq.clear();