Diff: Master.cpp

Revision:

56:7015e2e79ea7

Parent:

55:ff84fbdfd1d1

Child:

57:dfea5d24d650

--- a/Master.cpp	Mon Dec 02 23:15:15 2013 +0000
+++ b/Master.cpp	Tue Dec 03 02:49:30 2013 +0000
@@ -31,12 +31,9 @@
     int ks = 0.5;
     //float mag = (initLen-length)*ks;
     //Apply Forward Kinematics
-    kankan.setPoint(Point((1+ks)*x,(1+ks)*y,0));
-    //Point output = Point(-mag*x/length,-mag*y/length,0);
-    //Point output((1+ks)*x,(1+ks)*y,0);  //try just position scaling for slip
-    //Joints dtheta = invKinBody(output);
-    //m1.setPos(dtheta.t1);
-    //m2.setPos(dtheta.t2);
+    Point slip_p = Point((1+ks)*x,(1+ks)*y,0);
+    kankan.setPoint(slip_p);
+
     return 1;
 }
 int FLIGHT(float initM1, float initM2){
@@ -50,17 +47,6 @@
        kankan.start();
        kankan.zero();
 
-        Point p1(0,-.1,0);
-        Point p2(0,-.6,0);
-        Point p3(0,-.1,0);
-        Point p[3]={p1, p2, p3};
-        BezCurve curve(p, 3);
-        curve.startCurve();
-        
-        
-        //kankan.start();
-        /*
-        
         //Initalize Control Varialbes
         int Phase = 0;//Flight Phase
         int initLen = 0.08;//0.17;
@@ -84,7 +70,8 @@
             led1=1; //landing detected
             //Uses SLIP Model to Control
           
-                SLIP(initLen);
+                kankan.slip(1000,Point(.05,-.18,0), pc);
+                //kankan.testEncoders(pc);
                 //m1.setPos(-1);
                 if(!kankan.landDetection()){
                     //Lift Up going to Phase 0
@@ -93,17 +80,6 @@
             
             }
         }
-        wait(3);
-        */
-    while(!curve.isDone()){
-        //kankan.testEncoders(pc);
-        curve.incrementAlpha();
-        Point end = curve.getPoint();
-        
-        kankan.setPoint(end);
-        
-        wait(.05);        
-    }
     
    
     m1.stop();