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Adding proper examples

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Lukas Bachschwell
2017-12-12 14:30:03 +01:00
parent 22f78c4bad
commit a16edd7f20
5 changed files with 220 additions and 2 deletions
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2
src/LARS.cpp
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@ -16,7 +16,7 @@
*/
LARS::LARS(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
LARS::LARS(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
board_pins[FRONT_RIGHT_HIP] = FRH; // front right inner
board_pins[FRONT_LEFT_HIP] = FLH; // front left inner
board_pins[BACK_RIGHT_HIP] = BRH; // back right inner

2
src/LARS.h
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@ -24,7 +24,7 @@
class LARS {
public:
LARS(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL);
LARS(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13);
void init();
void walk(int dir = 1, float steps = 1, float T = 800); // T initial 400
void omniWalk(float steps, float T, bool side, float turn_factor);