Calum Johnston / Hexapod_Leg

Library to control a 3DOF leg with a PCA9685.

Files at this revision

API Documentation at this revision

Revision 2:40956b2ed45b, committed 2016-04-14

Comitter:
el13cj
Date:
Thu Apr 14 10:03:45 2016 +0000
Parent:
1:4c98fa9a06a4
Child:
3:9cc530686346
Commit message:
Added dummy line in struct to make the leg position clearer

Changed in this revision

structs.h Show annotated file Show diff for this revision Revisions of this file 
--- a/structs.h	Tue Apr 12 15:41:58 2016 +0000
+++ b/structs.h	Thu Apr 14 10:03:45 2016 +0000
@@ -15,23 +15,25 @@
 
 typedef const struct leg_angles calibrated_leg_centre;
 
-calibrated_leg_centre leg_cent[6] = 
+calibrated_leg_centre leg_cent[7] = 
 {
 //    A     B     C
+    {0,    0,    0   },         //Dummy Leg for  better structure
     {1520, 1570, 2474},         //LEG 1
     {1500, 1494, 2440},         //LEG 2
     {1535, 1449, 2524},         //LEG 3
     {1472, 1537, 485 },         //LEG 4
-    {1504, 1520, 587 },          //LEG 5
-    {1455, 1493, 553 },          //LEG 6
+    {1504, 1520, 587 },         //LEG 5
+    {1455, 1493, 553 },         //LEG 6
 };
 
 
 typedef const struct leg_angles calibrated_leg_1_degree;
 
-calibrated_leg_1_degree leg_step[6] = 
+calibrated_leg_1_degree leg_step[7] = 
 {
 //      A       B       C
+    {0,      0,      0     },   //Dummy Leg for  better structure
     {10.444, 10.500, 10.778},   //LEG 1
     {10.722, 10.811, 10.478},   //LEG 2
     {10.633, 10.644, 10.822},   //LEG 3