2.s994 Project
Revision 58:c0b09adb2997, committed 2013-12-04
- Comitter:
- calamaridudeman
- Date:
- Wed Dec 04 02:58:18 2013 +0000
- Parent:
- 57:dfea5d24d650
- Commit message:
- KANKAN CAN DO STUFF!!!!
Changed in this revision
Master.cpp | Show annotated file Show diff for this revision Revisions of this file |
src/kangaroo.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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()){
--- a/src/kangaroo.cpp Tue Dec 03 10:01:18 2013 +0000 +++ b/src/kangaroo.cpp Wed Dec 04 02:58:18 2013 +0000 @@ -24,7 +24,7 @@ //m1.zero(); //m2.zero(); m1.calibAngle(0.0); - m2.calibAngle(2.44); + m2.calibAngle(2.25);//2.44 wait(.1); @@ -62,9 +62,9 @@ void Kangaroo::testEncoders(Serial &pc){ //pc.printf("hello world\n"); - //pc.printf("x: %f y: %f\n", getPoint().x, getPoint().y); + pc.printf("x: %f y: %f b: %f\n", getPoint().x, getPoint().y, getAngle2()); - pc.printf("t1: %f t2: %f b1: %f b2: %f \n",m1.getAngle(), m2.getAngle(), getAngle1(), getAngle2()); + //pc.printf("t1: %f t2: %f b1: %f b2: %f \n",m1.getAngle(), m2.getAngle(), getAngle1(), getAngle2()); //pc.printf("m1: %f m2: %f\n",dt1, dt2); } @@ -77,7 +77,7 @@ joint_h = lg*sin(th3)+h; float th4 = getAngle2(); leg_y = -1*(-l1+getPoint().y)*cos(th4); - return joint_h<(leg_y+.013); + return joint_h<(leg_y+.021);//.013 } Point Kangaroo::getPoint(){ @@ -88,7 +88,7 @@ } float Kangaroo::getAngle2(){ - return (enc2.getAngle())-1.65;//-1.65 + return (enc2.getAngle())-1.45;//-1.65 }