Diff: src/kangaroo.cpp

Revision:

38:922f2584bdfd

Parent:

37:bf257a0154db

Child:

41:65de628f701f

--- a/src/kangaroo.cpp	Sun Nov 24 20:38:59 2013 +0000
+++ b/src/kangaroo.cpp	Tue Nov 26 04:42:39 2013 +0000
@@ -7,10 +7,16 @@
 }
 
 void Kangaroo::zero(){
-    m1.setVel(-.002);//wait for the legs to go to stopping points
-    m2.setVel(-.002);
+    m1.start();
+    m2.start();
+    //m1.setVel(-.2);//wait for the legs to go to stopping points
+    //m2.setVel(-.2);
+    
+    m1.setPos(2.0);
+    m2.setPos(2.0);
+    
     led4=1;
-    wait(1);
+    wait(3.0);
     
     m1.zero();
     m2.zero();
@@ -24,7 +30,8 @@
     
     led1=1;
     led3=1;
-    
+    m1.stop();
+    m2.stop();
 }
 
 void Kangaroo::testEncoders(Serial &pc){
@@ -35,4 +42,8 @@
     
     //pc.printf("motor2:  %i\n",);
     pc.printf("clix2:  %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
+}
+
+float Kangaroo::getAngle(){
+    return (enc2.getAngle())+1.770973;
 }
\ No newline at end of file