#include "ReelTwo.h"
#include "core/SetupEvent.h"
#include "core/AnimatedEvent.h"
#include "core/CommandEvent.h"
#include "Orientation.h"
#include "USBSabertooth_NB.h"

Include dependency graph for Stance.h:

Classes
class	Stance
	Manages transition from 2 to 3 legged stance using 4 limit switches. More...

Macros
#define	MOTOR_FULL_POWER 2047

#define	TILT_MOTOR_FULL_POWER 2047

#define	MOTOR_HALF_3QUARTERS 1400

#define	MOTOR_HALF_POWER 1024

#define	MOTOR_QUARTER_POWER 300

#define	YOKE_ANGLE_2LEGS_TARGET -13

#define	YOKE_ANGLE_2LEGS_LIMIT -10 /* limit switch triggers at -10 */

#define	YOKE_ANGLE_3LEGS_TARGET 23

#define	YOKE_ANGLE_2TO3LEGS_SLOWDOWN 20

#define	YOKE_ANGLE_CENTER_LEG_START -10

Macro Definition Documentation

◆ MOTOR_FULL_POWER

#define MOTOR_FULL_POWER 2047

◆ MOTOR_HALF_3QUARTERS

#define MOTOR_HALF_3QUARTERS 1400

◆ MOTOR_HALF_POWER

#define MOTOR_HALF_POWER 1024

◆ MOTOR_QUARTER_POWER

#define MOTOR_QUARTER_POWER 300

◆ TILT_MOTOR_FULL_POWER

#define TILT_MOTOR_FULL_POWER 2047

◆ YOKE_ANGLE_2LEGS_LIMIT

#define YOKE_ANGLE_2LEGS_LIMIT -10 /* limit switch triggers at -10 */

◆ YOKE_ANGLE_2LEGS_TARGET

#define YOKE_ANGLE_2LEGS_TARGET -13

◆ YOKE_ANGLE_2TO3LEGS_SLOWDOWN

#define YOKE_ANGLE_2TO3LEGS_SLOWDOWN 20

◆ YOKE_ANGLE_3LEGS_TARGET

#define YOKE_ANGLE_3LEGS_TARGET 23

◆ YOKE_ANGLE_CENTER_LEG_START

#define YOKE_ANGLE_CENTER_LEG_START -10

Classes

Macros