Fine tuning ...

Author: aentinger

examples/Controlling_Manually_Braccio/AppState.cpp

@@ -131,25 +131,25 @@ State * WristState::handle_OnEnter()
 
 State * WristState::handle_OnUp()
 {
-  wristRoll.move().to(wristRoll.position() + 5.0f);
+  wristPitch.move().to(wristPitch.position() + 5.0f);
   return this;
 }
 
 State * WristState::handle_OnDown()
 {
-  wristRoll.move().to(wristRoll.position() - 5.0f);
+  wristPitch.move().to(wristPitch.position() - 5.0f);
   return this;
 }
 
 State * WristState::handle_OnLeft()
 {
-  wristPitch.move().to(wristPitch.position() + 5.0f);
+  wristRoll.move().to(wristRoll.position() + 10.0f);
   return this;
 }
 
 State * WristState::handle_OnRight()
 {
-  wristPitch.move().to(wristPitch.position() - 5.0f);
+  wristRoll.move().to(wristRoll.position() - 10.0f);
   return this;
 }
 

examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino

@@ -55,7 +55,7 @@ void setup()
   if (Braccio.begin(directionScreen))
   {
     /* Configure Braccio. */
-    Braccio.speed(speed_grade_t(150)/*MEDIUM*/);
+    Braccio.speed(speed_grade_t(120)/*MEDIUM*/);
     /* Move to home position. */
     Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
     delay(500);
@@ -84,11 +84,11 @@ void loop()
     }
   }
 
-  /* Execute every 100 ms. */
+  /* Execute every 50 ms. */
   {
     static auto prev = millis();
     auto const now = millis();
-    if ((now - prev) > 100)
+    if ((now - prev) > 50)
     {
       prev = now;