Diff: Tripod.cpp

Revision:

4:28821e248538

Parent:

3:97561b972647

Child:

5:b37ae852304f

--- a/Tripod.cpp	Tue May 03 10:57:44 2016 +0000
+++ b/Tripod.cpp	Tue May 03 15:54:16 2016 +0000
@@ -22,6 +22,8 @@
     if (start_point < 0) {
         start_point = 0;
     }
+    
+    i = 0;
 
     current_state = start_point;
     next_state = start_point++;
@@ -102,17 +104,17 @@
         }
         break;
         case 2: {
-            float an_a_1 = (leg_4_angles[current_state].a + ((leg_4_angles[next_state].a - leg_4_angles[current_state].a) / NUM_STEPS) * j);
-            float an_b_1 = (leg_4_angles[current_state].b + ((leg_4_angles[next_state].b - leg_4_angles[current_state].b) / NUM_STEPS) * j);
-            float an_c_1 = (leg_4_angles[current_state].c + ((leg_4_angles[next_state].c - leg_4_angles[current_state].c) / NUM_STEPS) * j);
+            float an_a_1 = (leg_4_angles[current_state].a + ((leg_4_angles[next_state].a - leg_4_angles[current_state].a) / NUM_STEPS) * i);
+            float an_b_1 = (leg_4_angles[current_state].b + ((leg_4_angles[next_state].b - leg_4_angles[current_state].b) / NUM_STEPS) * i);
+            float an_c_1 = (leg_4_angles[current_state].c + ((leg_4_angles[next_state].c - leg_4_angles[current_state].c) / NUM_STEPS) * i);
 
-            float an_a_2 = (leg_2_angles[current_state].a + ((leg_2_angles[next_state].a - leg_2_angles[current_state].a) / NUM_STEPS) * j);
-            float an_b_2 = (leg_2_angles[current_state].b + ((leg_2_angles[next_state].b - leg_2_angles[current_state].b) / NUM_STEPS) * j);
-            float an_c_2 = (leg_2_angles[current_state].c + ((leg_2_angles[next_state].c - leg_2_angles[current_state].c) / NUM_STEPS) * j);
+            float an_a_2 = (leg_2_angles[current_state].a + ((leg_2_angles[next_state].a - leg_2_angles[current_state].a) / NUM_STEPS) * i);
+            float an_b_2 = (leg_2_angles[current_state].b + ((leg_2_angles[next_state].b - leg_2_angles[current_state].b) / NUM_STEPS) * i);
+            float an_c_2 = (leg_2_angles[current_state].c + ((leg_2_angles[next_state].c - leg_2_angles[current_state].c) / NUM_STEPS) * i);
 
-            float an_a_3 = (leg_6_angles[current_state].a + ((leg_6_angles[next_state].a - leg_6_angles[current_state].a) / NUM_STEPS) * j);
-            float an_b_3 = (leg_6_angles[current_state].b + ((leg_6_angles[next_state].b - leg_6_angles[current_state].b) / NUM_STEPS) * j);
-            float an_c_3 = (leg_6_angles[current_state].c + ((leg_6_angles[next_state].c - leg_6_angles[current_state].c) / NUM_STEPS) * j);
+            float an_a_3 = (leg_6_angles[current_state].a + ((leg_6_angles[next_state].a - leg_6_angles[current_state].a) / NUM_STEPS) * i);
+            float an_b_3 = (leg_6_angles[current_state].b + ((leg_6_angles[next_state].b - leg_6_angles[current_state].b) / NUM_STEPS) * i);
+            float an_c_3 = (leg_6_angles[current_state].c + ((leg_6_angles[next_state].c - leg_6_angles[current_state].c) / NUM_STEPS) * i);
 
             leg_1.set_joint_angles(an_a_1, an_b_1, an_c_1);
             leg_2.set_joint_angles(an_a_2, an_b_2, an_c_2);
@@ -120,11 +122,11 @@
 
             board.update();
 
-            j++;
+            i++;
 
-            if (j > NUM_STEPS) {
+            if (i > NUM_STEPS) {
                 group_ticker.detach();
-                j = 0;
+                i = 0;
             }