Diff: main.cpp

Revision:

13:1c5d255835ce

Parent:

12:a952bd74d363

Child:

14:21f932d6069d

--- a/main.cpp	Tue May 21 04:27:58 2013 +0000
+++ b/main.cpp	Tue May 21 19:58:01 2013 +0000
@@ -30,6 +30,8 @@
 RobotLeg legC(p19, p11, p8, false);
 RobotLeg legD(p25, p24, p23, false);
 
+
+
 CmdHandler* legpos(Terminal* terminal, const char*)
 {
     char output[256];
@@ -84,16 +86,6 @@
 
 
 
-void resetLegs()
-{
-    legA.reset(-0.6f);
-    legB.reset(-0.1f);
-    legC.reset(0.4f);
-    legD.reset(0.9f);
-} // resetLegs()
-
-
-
 void setupLegs();
 
 
@@ -143,7 +135,7 @@
         yaxis = -0.0078125f * deadzone((int8_t)((radio.rx_controller>>8)&0xff), 8);
         turnaxis = -0.0078125f * deadzone((int8_t)((radio.rx_controller>>16)&0xff), 8);
         
-        turnaxis = 0.1f;
+        yFixeaxis = 1.0f;
         
         // Get delta-time
         deltaTime = deltaTimer.read();
@@ -237,7 +229,7 @@
     legC.phi.calibrate(1930, 1050, 70.0f, -45.0f);
     legC.psi.calibrate(1100, 2000, 70.0f, -60.0f);
     legD.theta.calibrate(2000, 1070, 45.0f, -45.0f);
-    legD.phi.calibrate(1930, 1050, 70.0f, -45.0f);
+    legD.phi.calibrate(1910, 970, 70.0f, -45.0f);
     legD.psi.calibrate(1020, 1900, 70.0f, -60.0f);
     
     // Initialize leg position deltas
@@ -264,5 +256,8 @@
     legC.psi.enable(); wait(0.1f);
     legD.psi.enable(); wait(0.1f);
     wait(0.4f);
-    resetLegs();
+    legA.reset(-0.6f);
+    legB.reset(-0.1f);
+    legC.reset(0.4f);
+    legD.reset(0.9f);
 }