Rauno U
/
Miisu
Six crescent shaped legs
Diff: main.cpp
- Revision:
- 42:7fa713d5d1af
- Parent:
- 41:8ce8a3a47a92
- Child:
- 43:0627a2245b9d
diff -r 8ce8a3a47a92 -r 7fa713d5d1af main.cpp --- a/main.cpp Wed Jun 15 16:00:48 2016 +0000 +++ b/main.cpp Wed Jun 15 18:52:43 2016 +0000 @@ -96,18 +96,8 @@ wait(0.1f); } -int main() -{ - pc.printf("MAIN\n"); - bt.rise(&rise); - bt.fall(&fall); - - //ms[active]->drive(0.25); - - ticker.attach(&tick, tickTime); - - //unsigned char volatile rfget; - +void calibrateLegs() +{ for (int i = 0; i < MOTORS; i++) { if (i != 3) @@ -133,12 +123,12 @@ for (int i = 0; i < MOTORS; i++) ms[i]->getEncoder().reset(); + pc.printf("done"); - - for (int i = 0; i < MOTORS; i++) - pc.printf("%ld ", ms[i]->encoder.getCount()); - pc.printf("\n"); - +} + +void standUp() +{ ms[0]->rotate(0.5f + 0.125f, 0.75f); ms[1]->rotate(0.5f - 0.125f, 0.75f); ms[2]->rotate(0.5f + 0.125f, 0.75f); @@ -146,12 +136,27 @@ ms[4]->rotate(0.5f + 0.125f, 0.75f); ms[5]->rotate(0.5f - 0.125f, 0.75f); waitAllRotate(); +} + +int main() +{ + pc.printf("MAIN\n"); + bt.rise(&rise); + bt.fall(&fall); + + //ms[active]->drive(0.25); + + ticker.attach(&tick, tickTime); + + //unsigned char volatile rfget; + + calibrateLegs(); + standUp(); float volatile speed; float volatile sum; - while(1) {