Calum Johnston / Hexapod_Leg

Library to control a 3DOF leg with a PCA9685.

structs.h@5:50039ebd3a8d, 2016-05-03 (annotated)

Committer:
el13cj
Date:
Tue May 03 10:57:31 2016 +0000
Revision:
5:50039ebd3a8d
Parent:
4:4d4cea424b7f 
All good baby

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 0:ead365546ca5 1 #ifndef HEXAPOD_LEG_STRUCTS_H
el13cj 0:ead365546ca5 2 #define HEXAPOD_LEG_STRUCTS_H
el13cj 0:ead365546ca5 3
el13cj 0:ead365546ca5 4 struct leg_angles
el13cj 0:ead365546ca5 5
el13cj 0:ead365546ca5 6 {
el13cj 0:ead365546ca5 7
el13cj 0:ead365546ca5 8 float a; //Body Joint
el13cj 0:ead365546ca5 9 float b; //Mid Joint
el13cj 0:ead365546ca5 10 float c; //End Joint
el13cj 0:ead365546ca5 11
el13cj 0:ead365546ca5 12 };
el13cj 0:ead365546ca5 13
el13cj 0:ead365546ca5 14 //Calibrated centre positions for all six legs
el13cj 0:ead365546ca5 15
el13cj 0:ead365546ca5 16 typedef const struct leg_angles calibrated_leg_centre;
el13cj 0:ead365546ca5 17
el13cj 2:40956b2ed45b 18 calibrated_leg_centre leg_cent[7] =
el13cj 0:ead365546ca5 19 {
el13cj 0:ead365546ca5 20 // A B C
el13cj 2:40956b2ed45b 21 {0, 0, 0 }, //Dummy Leg for better structure
el13cj 1:4c98fa9a06a4 22 {1520, 1570, 2474}, //LEG 1
el13cj 1:4c98fa9a06a4 23 {1500, 1494, 2440}, //LEG 2
el13cj 1:4c98fa9a06a4 24 {1535, 1449, 2524}, //LEG 3
el13cj 1:4c98fa9a06a4 25 {1472, 1537, 485 }, //LEG 4
el13cj 2:40956b2ed45b 26 {1504, 1520, 587 }, //LEG 5
el13cj 2:40956b2ed45b 27 {1455, 1493, 553 }, //LEG 6
el13cj 0:ead365546ca5 28 };
el13cj 0:ead365546ca5 29
el13cj 0:ead365546ca5 30
el13cj 0:ead365546ca5 31 typedef const struct leg_angles calibrated_leg_1_degree;
el13cj 0:ead365546ca5 32
el13cj 2:40956b2ed45b 33 calibrated_leg_1_degree leg_step[7] =
el13cj 0:ead365546ca5 34 {
el13cj 0:ead365546ca5 35 // A B C
el13cj 2:40956b2ed45b 36 {0, 0, 0 }, //Dummy Leg for better structure
el13cj 1:4c98fa9a06a4 37 {10.444, 10.500, 10.778}, //LEG 1
el13cj 1:4c98fa9a06a4 38 {10.722, 10.811, 10.478}, //LEG 2
el13cj 1:4c98fa9a06a4 39 {10.633, 10.644, 10.822}, //LEG 3
el13cj 1:4c98fa9a06a4 40 {10.744, 10.700, 10.478}, //LEG 4
el13cj 1:4c98fa9a06a4 41 {10.744, 10.511, 10.811}, //LEG 5
el13cj 1:4c98fa9a06a4 42 {10.733, 11.011, 10.478}, //LEG 6
el13cj 0:ead365546ca5 43 };
el13cj 0:ead365546ca5 44
el13cj 0:ead365546ca5 45
el13cj 0:ead365546ca5 46 struct pwm_outputs
el13cj 0:ead365546ca5 47
el13cj 0:ead365546ca5 48 {
el13cj 0:ead365546ca5 49 int a;
el13cj 0:ead365546ca5 50 int b;
el13cj 0:ead365546ca5 51 int c;
el13cj 0:ead365546ca5 52
el13cj 0:ead365546ca5 53 };
el13cj 0:ead365546ca5 54
el13cj 0:ead365546ca5 55
el13cj 0:ead365546ca5 56 typedef const struct pwm_outputs leg_outputs;
el13cj 0:ead365546ca5 57
el13cj 0:ead365546ca5 58 leg_outputs leg_out[3] =
el13cj 0:ead365546ca5 59 {
el13cj 3:9cc530686346 60 // A B C
el13cj 4:4d4cea424b7f 61 {0, 1, 2}, //FRONT LEG
el13cj 4:4d4cea424b7f 62 {3, 4, 5}, //MID LEG
el13cj 4:4d4cea424b7f 63 {6, 7, 8}, //REAR LEG
el13cj 0:ead365546ca5 64 };
el13cj 0:ead365546ca5 65
el13cj 3:9cc530686346 66 typedef const struct leg_angles leg_x_angles;
el13cj 0:ead365546ca5 67
el13cj 0:ead365546ca5 68 #endif