Diff: RobotLeg.h

Revision:

5:475f67175510

Parent:

3:6fa07ceb897f

Child:

6:0163f2737cc6

--- a/RobotLeg.h	Wed Nov 14 04:29:55 2012 +0000
+++ b/RobotLeg.h	Sun Jan 13 02:59:48 2013 +0000
@@ -13,29 +13,34 @@
     RobotLeg(PinName thetaPin, PinName phiPin, PinName psiPin);
     void setDimensions(float a, float b, float c, float d);
     void setAngleOffsets(float oth, float oph, float ops);
+    void setStepCircle(float xc, float yc, float zc, float rc);
     vector3 getPosition();
     bool move(vector3 dest);
     void step(vector3 dest);
-    void update(const matrix4& deltaTransform);
+    void reset(float f);
+    bool update(const matrix4& deltaTransform);
 
     Servo theta, phi, psi;
-    float thetaAngle, phiAngle, psiAngle;
 
 protected:
+    float thetaAngle, phiAngle, psiAngle;
+    float circleRadius;
     float a, b, c, d;
     float oth, oph, ops;
     float stepDelta, stepPeriod, stepHeight;
+    vector3 circleCenter;
     vector3 position;
+    vector3 nDeltaPosition;
     vector3 stepA;
     vector3 stepB;
     
-    enum LegState
+    enum state_t
     {
         neutral,
         stepping
     };
     
-    LegState state;
+    state_t state;
 
     Timer stepTimer;