Patrick Clary / Mbed 2 deprecated WalkingRobot

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Dependencies:   CircularBuffer Servo Terminal mbed Radio

Diff: RobotLeg.cpp

Revision:
20:bf46c0400b10
Parent:
19:efba54b23912
Child:
22:9cf770fb12f8
--- a/RobotLeg.cpp	Mon May 27 23:20:14 2013 +0000
+++ b/RobotLeg.cpp	Tue May 28 04:11:37 2013 +0000
@@ -184,6 +184,8 @@
             stepTimer.stop();
         }
         
+        move(newPosition);
+        
         return true;
         
     default:
@@ -195,7 +197,7 @@
 
 void RobotLeg::apply()
 {
-    move(newPosition);
+    if (stepping != state) move(newPosition);
 }