Diff: Master.cpp

Revision:

57:dfea5d24d650

Parent:

56:7015e2e79ea7

Child:

58:c0b09adb2997

--- a/Master.cpp	Tue Dec 03 02:49:30 2013 +0000
+++ b/Master.cpp	Tue Dec 03 10:01:18 2013 +0000
@@ -46,12 +46,15 @@
 int main() {
        kankan.start();
        kankan.zero();
+       /*m1.stop();
+       m2.stop();
+       while(1){
+        kankan.testEncoders(pc);
+        wait(.1);
+       }*/
 
         //Initalize Control Varialbes
         int Phase = 0;//Flight Phase
-        int initLen = 0.08;//0.17;
-        //float initM1 = -0.5;
-        //float initM2 = 0.5;
         
         while(true){
             if (Phase == 0){//Flight Phase
@@ -59,18 +62,17 @@
                 //FLIGHT(initM1, initM2);
                 //m1.setPos(-0.5);
                 led1=0;
-                kankan.setPoint(Point(0,-.15,0));
+                kankan.setPoint(Point(0.12,-.15,0));
                 if(kankan.landDetection()){
                     //Landed going to Phase 1
                     //Record initial Length.                   
                     Phase =1;
-                    initLen = sqrt(pow(kankan.getPoint().x,2)+pow(kankan.getPoint().y,2)); 
                 }
             }else{ //Land Phase
             led1=1; //landing detected
             //Uses SLIP Model to Control
           
-                kankan.slip(1000,Point(.05,-.18,0), pc);
+                kankan.slip(1000,Point(-.08,-1.0,0), pc);
                 //kankan.testEncoders(pc);
                 //m1.setPos(-1);
                 if(!kankan.landDetection()){