Diff: rigidLoop.cpp

Revision:

46:90516893793a

Parent:

45:a3b984a79d5d

Child:

47:2312a8dc9658

--- a/rigidLoop.cpp	Tue Apr 01 10:08:49 2014 +0000
+++ b/rigidLoop.cpp	Tue Apr 01 11:34:37 2014 +0000
@@ -12,6 +12,12 @@
 
 }
 
+void rigidLoop::showParameters() {
+    //pc.printf("Blob Name: 
+    pc.printf("Mirror delay :%d\n", displaySensingBuffer.delayMirrorSamples);
+    pc.printf("Angle correction force :%d\n", angleCorrectionForceLoop);
+    pc.printf("Integration Step :%d\n", angleCorrectionForceLoop);
+    }
 
 // Note: this method is hidding the abstract method in the base class... and has DIFFERENT parameters than another child would have (enum type).
 void rigidLoop::createBlob(int _id, RigidLoopMode _elasticBlobMode, vector2Df _initPos, vector2Df _initSpeed)
@@ -23,6 +29,8 @@
 
     startCenter=_initPos;
     startSpeed=_initSpeed;
+    
+    integrationStep=0.23;
 
     // (2) Initialize common variables of all blobs (base class):
     //initCommonVariables();
@@ -377,7 +385,7 @@
     centerMass.dampMotion = dampMotionCenterMass;
 
     // note: the following may not be required in case of contour following:
-    centerMass.setIntegrationStep(0.23); // VERY IMPORTANT! in the case of verlet integration, we need to set dt BEFORE setting the initial speed.
+    centerMass.setIntegrationStep(integrationStep); //0.23// VERY IMPORTANT! in the case of verlet integration, we need to set dt BEFORE setting the initial speed.
     centerMass.setInitialCondition(startCenter, startSpeed);
     // centerMass.setInitialCondition(2047.0, 2047.0,0.0,0.0);