Commit d2e4b854 authored by Jan Koniarik's avatar Jan Koniarik
Browse files

updated model

parent 4a873f29
-- This is a Cabal package environment file.
-- THIS FILE IS AUTO-GENERATED. DO NOT EDIT DIRECTLY.
-- Please create a 'cabal.config' file in the same directory
-- if you want to change the default settings for this sandbox.
local-repo: /home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/.cabal-sandbox/packages
logs-dir: /home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/.cabal-sandbox/logs
world-file: /home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/.cabal-sandbox/world
user-install: False
package-db: /home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/.cabal-sandbox/x86_64-linux-ghc-8.6.4-packages.conf.d
build-summary: /home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/.cabal-sandbox/logs/build.log
install-dirs
prefix: /home/squirrel/data/Projects/Schpin/repos/schpin-robot/schpin_koke/.cabal-sandbox
bindir: $prefix/bin
libdir: $prefix/lib
libsubdir: $abi/$libname
dynlibdir: $libdir/$abi
libexecdir: $prefix/libexec
libexecsubdir: $abi/$pkgid
datadir: $prefix/share
datasubdir: $abi/$pkgid
docdir: $datadir/doc/$abi/$pkgid
htmldir: $docdir/html
haddockdir: $htmldir
sysconfdir: $prefix/etc
......@@ -84,7 +84,7 @@ leg leg_pos conf_type = Leg
}
, axis = zAxis
, joint_config = JointConfig
{ min_angle = (-3 * pi / 8) *~ radian
{ min_angle = (-2 * pi / 8) *~ radian
, default_angle = if conf_type == Folded
then case leg_pos of
FR -> (-45) *~ degree
......@@ -96,7 +96,7 @@ leg leg_pos conf_type = Leg
FL -> 0 *~ radian
RR -> 0 *~ radian
RL -> 0 *~ radian
, max_angle = (3 * pi / 8) *~ radian
, max_angle = (2 * pi / 8) *~ radian
, vel_lim = 0.5 *~ (radian D./ second)
, effor_lim = 100
, g_steps = 8
......
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