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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",);