Diff: RobotServo.cpp

Revision:

3:197b748a397a

Parent:

1:709be64ca63c

Child:

4:b0967990e390

--- a/RobotServo.cpp	Tue Jun 21 18:47:22 2016 +0000
+++ b/RobotServo.cpp	Wed Jun 22 04:35:18 2016 +0000
@@ -208,9 +208,9 @@
 }
 void pwm_right_foot(float angle_1,float angle_2,float angle_3,float angle_4){
   pwm_rb.pulsewidth(8.5f / 90.0f * 0.0008f + 0.0015f);
-  pwm_rb.pulsewidth(angle_2 / 90.0f * 0.0008f + 0.002297f);
-  pwm_rb.pulsewidth(angle_3 / 90.0f * 0.0008f + 0.0007f);
-  pwm_rb.pulsewidth(-angle_4 / 90.0f * 0.0008f + 0.001513f);
+  pwm_rl.pulsewidth(angle_2 / 90.0f * 0.0008f + 0.002297f);
+  pwm_rk.pulsewidth(angle_3 / 90.0f * 0.0008f + 0.0007f);
+  pwm_ra.pulsewidth(-angle_4 / 90.0f * 0.0008f + 0.001513f);
 //  OCR4B = (8.5 / 90.0 * 0.0008 + 0.0015) * 244 * 1024; // Pin 7
 //  OCR4C = 574 + (400/180)*angle_2; // Pin 8
 //  OCR1A = 175 + (400/180)*angle_3; // Pin 11