Calum Johnston / Gait

Simple library to drive a hexapod gait across two tripod groups

Dependents:   Hexapod_Library

Files at this revision

API Documentation at this revision

Revision 1:2e6f8b6b6299, committed 2016-05-10

Comitter:
el13cj
Date:
Tue May 10 12:15:09 2016 +0000
Parent:
0:8cc87963b387
Commit message:
About to add Directions;

Changed in this revision

Gait.cpp Show annotated file Show diff for this revision Revisions of this file
Gait.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 8cc87963b387 -r 2e6f8b6b6299 Gait.cpp
--- a/Gait.cpp	Tue May 03 10:54:43 2016 +0000
+++ b/Gait.cpp	Tue May 10 12:15:09 2016 +0000
@@ -13,7 +13,7 @@
 void Gait::time_1(void)
 
 {
-    tripod_2_timeout.attach(this, &Gait::time_2, 1);
+    tripod_2_timeout.attach(this, &Gait::time_2, 0.4);
     group_1.gait_smooth();
 
 }
@@ -22,7 +22,7 @@
 void Gait::time_2(void)
 
 {
-    tripod_1_timeout.attach(this, &Gait::time_1, 1);
+    tripod_1_timeout.attach(this, &Gait::time_1, 0.4);
     group_2.gait_smooth();
 
 }

diff -r 8cc87963b387 -r 2e6f8b6b6299 Gait.h
--- a/Gait.h	Tue May 03 10:54:43 2016 +0000
+++ b/Gait.h	Tue May 10 12:15:09 2016 +0000
@@ -11,8 +11,7 @@
     public:
         Gait(Tripod tripod_1, Tripod tripod_2);
         void start(int group);
-        void stop(void);
-        
+        void stop(void);   
         
     private:
         void time_1(void);