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Fixing typo

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Lukas Bachschwell 2017-12-03 21:56:34 +01:00
parent 2f0e4cfa94
commit d8db65cffa
2 changed files with 7 additions and 7 deletions
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12
src/LARS.cpp
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@ -50,7 +50,7 @@ void LARS::init() {
trim[BACK_LEFT_LEG] = 6; trim[BACK_LEFT_LEG] = 6;
trim[BACK_RIGHT_LEG] = 5; trim[BACK_RIGHT_LEG] = 5;
*/ */
for (int i = 0; i < 8; i++) { for (int i = 0; i < 8; i++) {
oscillator[i].start(); oscillator[i].start();
servo[i].attach(board_pins[i]); servo[i].attach(board_pins[i]);
@ -140,7 +140,7 @@ void LARS::omniWalk(float steps, float T, bool side, float turn_factor) {
execute(steps, period, amplitude, offset, phase); execute(steps, period, amplitude, offset, phase);
} }
void LARS::moonwalkL(float steps, float T = 5000) { void LARS::moonwalk(float steps, float T = 5000) {
int z_amp = 45; int z_amp = 45;
float period[] = {T, T, T, T, T, T, T, T}; float period[] = {T, T, T, T, T, T, T, T};
int amplitude[] = {0, 0, z_amp, z_amp, 0, 0, z_amp, z_amp}; int amplitude[] = {0, 0, z_amp, z_amp, 0, 0, z_amp, z_amp};
@ -170,7 +170,7 @@ void LARS::walk(int dir, float steps, float T) {
90 - ap - front_x, 90 - ap - front_x,
90 + ap + front_x, 90 + ap + front_x,
90 + hi, 90 + hi,
90 - hi 90 - hi
/* 90, /* 90,
90, 90,
90, 90,
@ -330,14 +330,14 @@ void LARS::wave(int legNumber){
memcpy ( &offsetLeg, &offset, sizeof(offset) ); memcpy ( &offsetLeg, &offset, sizeof(offset) );
break; break;
} }
default : default :
if (debug) Serial.println("Error, leg does not exist"); if (debug) Serial.println("Error, leg does not exist");
break; break;
} }
float period[] = {T, T, T, T, T, T, T, T}; float period[] = {T, T, T, T, T, T, T, T};
int phase[] = {0, 0, 0, 90, 0, 0, 0, 0}; int phase[] = {0, 0, 0, 90, 0, 0, 0, 0};
execute(3, period, amplitude, offsetLeg, phase); execute(3, period, amplitude, offsetLeg, phase);
delay (200); delay (200);
} }

2
src/LARS.h
View File

@ -24,7 +24,7 @@ class LARS {
void omniWalk(float steps, float T, bool side, float turn_factor); void omniWalk(float steps, float T, bool side, float turn_factor);
void turnL(float steps, float period); void turnL(float steps, float period);
void turnR(float steps, float period); void turnR(float steps, float period);
void moonwalkL(float steps, float period); void moonwalk(float steps, float period);
void dance(float steps, float period); void dance(float steps, float period);
void upDown(float steps, float period); void upDown(float steps, float period);
void pushUp(float steps, float period); void pushUp(float steps, float period);