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changeset 12:1298204d2f3d

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Fix another off-by-one
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Thu, 07 Apr 2016 09:15:45 +0200
parents 5c99ed631554
children 94feb678de75
files controller/i2c.ino controller/leg.ino
diffstat 2 files changed, 6 insertions(+), 4 deletions(-) [+]
line wrap: on
line diff
--- a/controller/i2c.ino	Wed Apr 06 22:34:26 2016 +0200
+++ b/controller/i2c.ino	Thu Apr 07 09:15:45 2016 +0200
@@ -24,8 +24,8 @@
 
 void i2c_loop() {
     for (int leg = 0; leg < 4; ++leg) {
-        move_leg(leg, regs[leg * 4 + 0] + HOME,
-                      regs[leg * 4 + 1] + HOME,
-                      regs[leg * 4 + 2] - TIBIA);
+        move_leg(leg, regs[leg * 3 + 0] + HOME,
+                      regs[leg * 3 + 1] + HOME,
+                      regs[leg * 3 + 2] - TIBIA);
     }
 }
--- a/controller/leg.ino	Wed Apr 06 22:34:26 2016 +0200
+++ b/controller/leg.ino	Thu Apr 07 09:15:45 2016 +0200
@@ -53,7 +53,9 @@
     double ankle = NAN;
     double knee = NAN;
     double hip = NAN;
-    if (leg_position[0] == x && leg_position[1] == y && leg_position[2] == z) {
+    if (leg_position[leg][0] == x &&
+        leg_position[leg][1] == y &&
+        leg_position[leg][2] == z) {
         return true;
     }
     leg_position[leg][0] = x;