Diff: src/kangaroo.cpp

Revision:

48:8f0e007bd305

Parent:

45:0db0fc9f77b1

Child:

49:3aaa790800ad

--- a/src/kangaroo.cpp	Sun Dec 01 20:34:31 2013 +0000
+++ b/src/kangaroo.cpp	Sun Dec 01 22:19:48 2013 +0000
@@ -13,8 +13,8 @@
     //m1.setVel(-.2);//wait for the legs to go to stopping points
     //m2.setVel(-.2);
     
-    m1.setPos(3.1415/6);
-    m2.setPos(3.1415/6);//bring legs to hard stop
+    m1.setPos(3.1415/5);
+    m2.setPos(3.1415/5);//bring legs to hard stop
     
     led4=1;
     wait(3.0);
@@ -25,6 +25,7 @@
     m1.setPos(0); //-3.1415/2);
     m2.setPos(-3.1415/2); //bring legs to neutral position
     
+    
     m1.zero();  //rezero at neutral
     m2.zero();
     
@@ -37,11 +38,14 @@
     
     led1=1;
     
-    setPoint(Point(1.0,-1.0,0));
-    
-    led3=1;
-    m1.stop();
-    m2.stop();
+    //setPoint(Point(0,-.1,0));
+    wait(3);
+    led3=0;
+    led1=0;
+    led2=0;
+    led4=0;
+    //m1.stop();
+    //m2.stop();
 }
 
 void Kangaroo::testEncoders(Serial &pc){
@@ -54,6 +58,8 @@
     pc.printf("clix2:  %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
 }
 
+Point Kangaroo
+
 float Kangaroo::getAngle(){
     return (enc2.getAngle())+1.770973;
 }