Diff: Walk/OverCome/OverCome.cpp

Revision:

49:198030e84936

Parent:

43:2ed84f3558c1

Child:

50:36741e8ab197

--- a/Walk/OverCome/OverCome.cpp	Fri Mar 08 06:09:31 2019 +0000
+++ b/Walk/OverCome/OverCome.cpp	Mon Mar 11 06:36:56 2019 +0000
@@ -3,7 +3,7 @@
 #include "math.h"
 OverCome::OverCome(float start_x_m[4], float start_y_m[4],
                    float d_x_m, float goal_y_m[4], float height_m[4], float gravity_dist[4],
-                    OneLeg legs[4], float raise_offset_x_m[4]) : walk(legs)
+                   OneLeg legs[4], float raise_offset_x_m[4]) : walk(legs)
 {
     for (int i = 0; i < 4; i++)
     {
@@ -16,9 +16,9 @@
     }
     d_x_m_ = d_x_m; //目標地点までのx
 
-    d_time_ = 0.5; //各動きの時間
-    d_time_slow_ = 0.5;
-    
+    d_time_ = 0.2; //各動きの時間
+    d_time_slow_ = 0.3;
+
     next_point_ = 0; //次のparamのindex
     GetLine();
     for (int i = 0; i < 4; i++)
@@ -43,7 +43,7 @@
     for (int i = 0; i < 4; i++)
     {
         legs_[i][next_point_].time_s = legs_[i][next_point_ - 1].time_s + d_time_;
-        legs_[i][next_point_].x_m = legs_[i][next_point_ - 1].x_m ;
+        legs_[i][next_point_].x_m = legs_[i][next_point_ - 1].x_m;
         legs_[i][next_point_].y_m = legs_[i][next_point_ - 1].y_m;
         legs_[i][next_point_].is_point_to_point = 0; //直線軌道を維持
     }
@@ -114,5 +114,5 @@
     Step(LEFT_F);
     GravityMove(RIGHT_B);
     Step(RIGHT_B);
-    GoalPoint();
+    // GoalPoint();
 }
\ No newline at end of file