Diff: Master.cpp

Revision:

58:c0b09adb2997

Parent:

57:dfea5d24d650

diff -r dfea5d24d650 -r c0b09adb2997 Master.cpp
--- a/Master.cpp	Tue Dec 03 10:01:18 2013 +0000
+++ b/Master.cpp	Wed Dec 04 02:58:18 2013 +0000
@@ -46,13 +46,14 @@
 int main() {
        kankan.start();
        kankan.zero();
-       /*m1.stop();
+       /*
+       m1.stop();
        m2.stop();
        while(1){
         kankan.testEncoders(pc);
         wait(.1);
-       }*/
-
+       }
+*/
         //Initalize Control Varialbes
         int Phase = 0;//Flight Phase
         
@@ -62,7 +63,7 @@
                 //FLIGHT(initM1, initM2);
                 //m1.setPos(-0.5);
                 led1=0;
-                kankan.setPoint(Point(0.12,-.15,0));
+                kankan.setPoint(Point(0.12,-.12,0));
                 if(kankan.landDetection()){
                     //Landed going to Phase 1
                     //Record initial Length.                   
@@ -72,7 +73,7 @@
             led1=1; //landing detected
             //Uses SLIP Model to Control
           
-                kankan.slip(1000,Point(-.08,-1.0,0), pc);
+                kankan.slip(750,Point(-.08,-1.5,0), pc);
                 //kankan.testEncoders(pc);
                 //m1.setPos(-1);
                 if(!kankan.landDetection()){