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Diff: src/kangaroo.cpp
- Revision:
- 50:510ce69c2a10
- Parent:
- 49:3aaa790800ad
- Child:
- 53:978b7fa74080
--- a/src/kangaroo.cpp Sun Dec 01 23:43:58 2013 +0000 +++ b/src/kangaroo.cpp Sun Dec 01 23:56:18 2013 +0000 @@ -17,29 +17,29 @@ m2.setPos(3.1415/5);//bring legs to hard stop led4=1; - wait(3.0); + wait(1.0); - m1.zero(); - m2.zero(); + //m1.zero(); + //m2.zero(); m1.calibAngle(0); m2.calibAngle(2*3.1415/3); wait(1); - m1.setPos(0); - m2.setPos(3.1415/2); + m1.setPos(-3.1415/2); + //m2.setPos(3.1415/2); enc1.reset(); enc2.reset(); led2=1; - while(((enc1.getRevolutions()==0)||(enc2.getRevolutions()==0))){ + /*while(((enc1.getRevolutions()==0)||(enc2.getRevolutions()==0))){ wait(0.1); - } + }*/ led1=1; //setPoint(Point(0,-.08,0)); - wait(3); + //wait(3); led3=0; led1=0; led2=0; @@ -50,8 +50,8 @@ void Kangaroo::testEncoders(Serial &pc){ //pc.printf("hello world\n"); - pc.printf("x: %f y: %f\n", getPoint().x, getPoint().y); - //pc.printf("motor1: %i\n",m1.getPos()); + //pc.printf("x: %f y: %f\n", getPoint().x, getPoint().y); + pc.printf("motor1: %i motor2: %i\n",m1.getPos(), m2.getPos()); //pc.printf("clix1: %i, rots1: %i\n",enc1.getPulses(), enc1.getRevolutions()); //pc.printf("motor2: %i\n",);