updated model

schpin_koke/cabal.sandbox.config

--- 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

schpin_koke/src/Main.hs

@@ -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