Diff: main.cpp

Revision:

14:21f932d6069d

Parent:

13:1c5d255835ce

Child:

16:cc1ae2a289ee

--- a/main.cpp	Tue May 21 19:58:01 2013 +0000
+++ b/main.cpp	Wed May 22 05:46:45 2013 +0000
@@ -14,7 +14,7 @@
 #define DIM_A 0.125f
 #define DIM_B 0.11f
 #define DIM_C 0.0025f
-#define DIM_D 0.025f
+#define DIM_D 0.0275f
 #define CIRCLE_X 0.095f
 #define CIRCLE_Y 0.095f
 #define CIRCLE_Z -0.12f
@@ -135,8 +135,6 @@
         yaxis = -0.0078125f * deadzone((int8_t)((radio.rx_controller>>8)&0xff), 8);
         turnaxis = -0.0078125f * deadzone((int8_t)((radio.rx_controller>>16)&0xff), 8);
         
-        yFixeaxis = 1.0f;
-        
         // Get delta-time
         deltaTime = deltaTimer.read();
         deltaTimer.reset();
@@ -219,18 +217,18 @@
     legB.setStepCircle(CIRCLE_X, CIRCLE_Y, CIRCLE_Z, CIRCLE_R);
     legC.setStepCircle(CIRCLE_X, CIRCLE_Y, CIRCLE_Z, CIRCLE_R);
     legD.setStepCircle(CIRCLE_X, CIRCLE_Y, CIRCLE_Z, CIRCLE_R);
-    legA.theta.calibrate(1130, 2060, 45.0f, -45.0f);
-    legA.phi.calibrate(1200, 2050, 70.0f, -45.0f);
-    legA.psi.calibrate(2020, 1050, 70.0f, -60.0f);
-    legB.theta.calibrate(980, 1930, 45.0f, -45.0f);
-    legB.phi.calibrate(1120, 2030, 70.0f, -45.0f);
-    legB.psi.calibrate(2070, 1170, 70.0f, -60.0f);
-    legC.theta.calibrate(1920, 860, 45.0f, -45.0f);
-    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(1910, 970, 70.0f, -45.0f);
-    legD.psi.calibrate(1020, 1900, 70.0f, -60.0f);
+    legA.theta.calibrate(1130, 2080, 45.0f, -45.0f);
+    legA.phi.calibrate(1150, 2080, 70.0f, -45.0f);
+    legA.psi.calibrate(1985, 1055, 70.0f, -60.0f);
+    legB.theta.calibrate(990, 1940, 45.0f, -45.0f);
+    legB.phi.calibrate(1105, 2055, 70.0f, -45.0f);
+    legB.psi.calibrate(2090, 1150, 70.0f, -60.0f);
+    legC.theta.calibrate(1930, 860, 45.0f, -45.0f);
+    legC.phi.calibrate(1945, 1000, 70.0f, -45.0f);
+    legC.psi.calibrate(1085, 2005, 70.0f, -60.0f);
+    legD.theta.calibrate(2020, 1080, 45.0f, -45.0f);
+    legD.phi.calibrate(2085, 1145, 70.0f, -45.0f);
+    legD.psi.calibrate(1070, 2010, 70.0f, -60.0f);
     
     // Initialize leg position deltas
     legA.nDeltaPosition = vector3(0.0f, 0.01f, 0.0f);