Calum Johnston / Hexapod_Leg

Library to control a 3DOF leg with a PCA9685.

structs.h@0:ead365546ca5, 2016-04-09 (annotated)

Committer:
el13cj
Date:
Sat Apr 09 18:57:46 2016 +0000
Revision:
0:ead365546ca5
Child:
1:4c98fa9a06a4
FINISHED AND WORKING MAY NEED CHANGES TO STRUCTS

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 0:ead365546ca5 18 calibrated_leg_centre leg_cent[6] =
el13cj 0:ead365546ca5 19 {
el13cj 0:ead365546ca5 20 // A B C
el13cj 0:ead365546ca5 21 {1500, 1545, 2480}, //LEG 1
el13cj 0:ead365546ca5 22 {1475, 1460, 2445}, //LEG 2
el13cj 0:ead365546ca5 23 {1520, 1450, 2490}, //LEG 3
el13cj 0:ead365546ca5 24 {1490, 1535, 490 }, //LEG 4
el13cj 0:ead365546ca5 25 {1480, 1500, 580 }, //LEG 5
el13cj 0:ead365546ca5 26 {1470, 1495, 550 }, //LEG 6
el13cj 0:ead365546ca5 27 };
el13cj 0:ead365546ca5 28
el13cj 0:ead365546ca5 29
el13cj 0:ead365546ca5 30 typedef const struct leg_angles calibrated_leg_1_degree;
el13cj 0:ead365546ca5 31
el13cj 0:ead365546ca5 32 calibrated_leg_1_degree leg_step[6] =
el13cj 0:ead365546ca5 33 {
el13cj 0:ead365546ca5 34 // A B C
el13cj 0:ead365546ca5 35 {10.889, 10.167, 10.778}, //LEG 1
el13cj 0:ead365546ca5 36 {10.444, 10.500, 10.444}, //LEG 2
el13cj 0:ead365546ca5 37 {10.667, 10.778, 10.389}, //LEG 3
el13cj 0:ead365546ca5 38 {10.556, 10.333, 10.111}, //LEG 4
el13cj 0:ead365546ca5 39 {10.361, 10.111, 10.611}, //LEG 5
el13cj 0:ead365546ca5 40 {10.806, 10.778, 10.222}, //LEG 6
el13cj 0:ead365546ca5 41 };
el13cj 0:ead365546ca5 42
el13cj 0:ead365546ca5 43
el13cj 0:ead365546ca5 44 struct pwm_outputs
el13cj 0:ead365546ca5 45
el13cj 0:ead365546ca5 46 {
el13cj 0:ead365546ca5 47 int a;
el13cj 0:ead365546ca5 48 int b;
el13cj 0:ead365546ca5 49 int c;
el13cj 0:ead365546ca5 50
el13cj 0:ead365546ca5 51 };
el13cj 0:ead365546ca5 52
el13cj 0:ead365546ca5 53
el13cj 0:ead365546ca5 54 typedef const struct pwm_outputs leg_outputs;
el13cj 0:ead365546ca5 55
el13cj 0:ead365546ca5 56 leg_outputs leg_out[3] =
el13cj 0:ead365546ca5 57 {
el13cj 0:ead365546ca5 58 // A B C
el13cj 0:ead365546ca5 59 {0, 1, 2}, //FRONT LEG
el13cj 0:ead365546ca5 60 {3, 4, 5}, //MID LEG
el13cj 0:ead365546ca5 61 {6, 7, 8}, //REAR LEG
el13cj 0:ead365546ca5 62 };
el13cj 0:ead365546ca5 63
el13cj 0:ead365546ca5 64
el13cj 0:ead365546ca5 65
el13cj 0:ead365546ca5 66 #endif