From d3092477a5e4713117672d36c72451833b900207 Mon Sep 17 00:00:00 2001 From: Hayden Kroepfl Date: Sun, 31 Dec 2017 19:48:37 -0700 Subject: [PATCH] Fixed misunderstanding with how movements and directions happen per tick. --- Hardware:-Legs.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Hardware:-Legs.md b/Hardware:-Legs.md index ad79157..136d1e2 100644 --- a/Hardware:-Legs.md +++ b/Hardware:-Legs.md @@ -20,4 +20,4 @@ Specify the direction in the B register: ### Notes -Only one direction change, and one walk can be performed per tick. Only the first direction change in a tick will be processed. If a `LEGS_SET_DIRECTION` then a `LEGS_SET_DIRECTION_AND_WALK` is performed in one tick, then the direction change from the `LEGS_SET_DIRECTION` will be handled, and the `LEGS_SET_DIRECTION_AND_WALK` will walk in that direction, ignoring its own set direction. \ No newline at end of file +Only one walk can be performed per tick, the last such `LEGS_SET_DIRECTION_AND_WALK` in the tick will be the one performed during the tick transition. `LEGS_SET_DIRECTION` may be performed multiple times during a tick. \ No newline at end of file