Diff: main.cpp

Revision:

7:aac5f901bd76

Parent:

6:0163f2737cc6

Child:

8:db453051f3f4

--- a/main.cpp	Sun Jan 13 19:50:40 2013 +0000
+++ b/main.cpp	Sun Jan 13 20:43:28 2013 +0000
@@ -125,30 +125,30 @@
     radio.reset();
     
     // Set leg parameters
-    legA.setDimensions(0.11f, 0.125f, -0.006f, 0.020f);
-    legB.setDimensions(0.11f, 0.125f, -0.006f, 0.020f);
-    legC.setDimensions(0.11f, 0.125f, -0.006f, 0.020f);
-    legD.setDimensions(0.11f, 0.125f, -0.006f, 0.020f);
+    legA.setDimensions(0.125f, 0.11f, 0.0025f, 0.025f);
+    legB.setDimensions(0.125f, 0.11f, 0.0025f, 0.025f);
+    legC.setDimensions(0.125f, 0.11f, 0.0025f, 0.025f);
+    legD.setDimensions(0.125f, 0.11f, 0.0025f, 0.025f);
     legA.setAngleOffsets(0.7853982f, 0.0f, 0.0f);
     legB.setAngleOffsets(0.7853982f, 0.0f, 0.0f);
     legC.setAngleOffsets(0.7853982f, 0.0f, 0.0f);
     legD.setAngleOffsets(0.7853982f, 0.0f, 0.0f);
-    legA.setStepCircle(0.12, 0.11, -0.15, 0.11);
-    legB.setStepCircle(0.12, 0.11, -0.15, 0.11);
-    legC.setStepCircle(0.12, 0.11, -0.15, 0.11);
-    legD.setStepCircle(0.12, 0.11, -0.15, 0.11);
+    legA.setStepCircle(0.095f, 0.095f, -0.12f, 0.09f);
+    legB.setStepCircle(0.095f, 0.095f, -0.12f, 0.09f);
+    legC.setStepCircle(0.095f, 0.095f, -0.12f, 0.09f);
+    legD.setStepCircle(0.095f, 0.095f, -0.12f, 0.09f);
     legA.theta.calibrate(1000, 2000, 45.0f, -45.0f);
     legA.phi.calibrate(1000, 2000, 70.0f, -45.0f);
-    legA.psi.calibrate(2000, 1000, 80.0f, -45.0f);
+    legA.psi.calibrate(2000, 1000, 70.0f, -60.0f);
     legB.theta.calibrate(1000, 2000, 45.0f, -45.0f);
     legB.phi.calibrate(1000, 2000, 70.0f, -45.0f);
-    legB.psi.calibrate(2000, 1000, 80.0f, -45.0f);
+    legB.psi.calibrate(2000, 1000, 70.0f, -60.0f);
     legC.theta.calibrate(2000, 1000, 45.0f, -45.0f);
     legC.phi.calibrate(2000, 1000, 70.0f, -45.0f);
-    legC.psi.calibrate(1000, 2000, 80.0f, -45.0f);
+    legC.psi.calibrate(1000, 2000, 70.0f, -60.0f);
     legD.theta.calibrate(2000, 1000, 45.0f, -45.0f);
     legD.phi.calibrate(2000, 1000, 70.0f, -45.0f);
-    legD.psi.calibrate(1000, 2000, 80.0f, -45.0f);
+    legD.psi.calibrate(1000, 2000, 70.0f, -60.0f);
     
     // Initialize leg position deltas
     legA.nDeltaPosition = vector3(0.0f, 0.01f, 0.0f);
@@ -254,7 +254,7 @@
                 break;
             }
             
-            break;
+            break; // case walk:, case step:
             
         case reset:
             if (cycleTimer.read() < STEPTIME && legState != A)
@@ -288,7 +288,7 @@
                 resetLegs();
             }
             
-            break;
-        }
-    }
-}
+            break; // case reset:
+        } // switch (state)
+    } // while (true)
+} // main()