Calum Johnston / Hexapod_Library

Class to drive a Hexapod Robot using two PCA9685 PWM Driver boards.

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_2.h@3:82ac75ea08a7, 2016-05-11 (annotated)

Committer:
el13cj
Date:
Wed May 11 15:47:09 2016 +0000
Revision:
3:82ac75ea08a7
Parent:
0:c15ca34340a7 
Ready

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 0:c15ca34340a7 1 #ifndef HEXAPOD_LEG_ANGLES_2_H
el13cj 0:c15ca34340a7 2 #define HEXAPOD_LEG_ANGLES_2_H
el13cj 0:c15ca34340a7 3 #include "structs.h"
el13cj 0:c15ca34340a7 4
el13cj 0:c15ca34340a7 5 //typedef const struct leg_angles leg_x_angles;
el13cj 0:c15ca34340a7 6
el13cj 0:c15ca34340a7 7 leg_x_angles leg_1_angles[6] = {
el13cj 0:c15ca34340a7 8 {60.000002,9.708465,-96.502056},
el13cj 0:c15ca34340a7 9 {82.833652,9.032727,-92.553954},
el13cj 0:c15ca34340a7 10 {82.833652,29.08871,-109.884589},
el13cj 0:c15ca34340a7 11 {60.000002,30.235171,-114.129811},
el13cj 0:c15ca34340a7 12 {37.166348,29.088714,-109.884602},
el13cj 0:c15ca34340a7 13 {37.166348,9.032732,-92.553967}
el13cj 0:c15ca34340a7 14 };
el13cj 0:c15ca34340a7 15
el13cj 0:c15ca34340a7 16 leg_x_angles leg_2_angles[6] = {
el13cj 0:c15ca34340a7 17 {0,9.708465,-96.502056},
el13cj 0:c15ca34340a7 18 {-22.833654,9.032732,-92.553967},
el13cj 0:c15ca34340a7 19 {-22.833654,29.088714,-109.884602},
el13cj 0:c15ca34340a7 20 {0,30.235171,-114.129811},
el13cj 0:c15ca34340a7 21 {22.833654,29.088714,-109.884602},
el13cj 0:c15ca34340a7 22 {22.833654,9.032732,-92.553967}
el13cj 0:c15ca34340a7 23 };
el13cj 0:c15ca34340a7 24
el13cj 0:c15ca34340a7 25 leg_x_angles leg_3_angles[6] = {
el13cj 0:c15ca34340a7 26 {-60.000002,9.708465,-96.502056},
el13cj 0:c15ca34340a7 27 {-82.833652,9.032727,-92.553954},
el13cj 0:c15ca34340a7 28 {-82.833652,29.08871,-109.884589},
el13cj 0:c15ca34340a7 29 {-60.000002,30.235171,-114.129811},
el13cj 0:c15ca34340a7 30 {-37.166348,29.088714,-109.884602},
el13cj 0:c15ca34340a7 31 {-37.166348,9.032732,-92.553967}
el13cj 0:c15ca34340a7 32 };
el13cj 0:c15ca34340a7 33
el13cj 0:c15ca34340a7 34 leg_x_angles leg_4_angles[6] = {
el13cj 0:c15ca34340a7 35 {-30.000003,9.708468,-96.502063},
el13cj 0:c15ca34340a7 36 {-7.166346,9.032727,-92.553954},
el13cj 0:c15ca34340a7 37 {-7.166346,29.08871,-109.884589},
el13cj 0:c15ca34340a7 38 {-30.000003,30.235171,-114.129818},
el13cj 0:c15ca34340a7 39 {-52.833654,29.088714,-109.884602},
el13cj 0:c15ca34340a7 40 {-52.833654,9.032732,-92.553967}
el13cj 0:c15ca34340a7 41 };
el13cj 0:c15ca34340a7 42
el13cj 0:c15ca34340a7 43 leg_x_angles leg_5_angles[6] = {
el13cj 0:c15ca34340a7 44 {0,9.708465,-96.502056},
el13cj 0:c15ca34340a7 45 {22.833654,9.032732,-92.553967},
el13cj 0:c15ca34340a7 46 {22.833654,29.088714,-109.884602},
el13cj 0:c15ca34340a7 47 {0,30.235171,-114.129811},
el13cj 0:c15ca34340a7 48 {-22.833654,29.088714,-109.884602},
el13cj 0:c15ca34340a7 49 {-22.833654,9.032732,-92.553967}
el13cj 0:c15ca34340a7 50 };
el13cj 0:c15ca34340a7 51
el13cj 0:c15ca34340a7 52 leg_x_angles leg_6_angles[6] = {
el13cj 0:c15ca34340a7 53 {30.000003,9.708468,-96.502063},
el13cj 0:c15ca34340a7 54 {7.166346,9.032727,-92.553954},
el13cj 0:c15ca34340a7 55 {7.166346,29.08871,-109.884589},
el13cj 0:c15ca34340a7 56 {30.000003,30.235171,-114.129818},
el13cj 0:c15ca34340a7 57 {52.833654,29.088714,-109.884602},
el13cj 0:c15ca34340a7 58 {52.833654,9.032732,-92.553967}
el13cj 0:c15ca34340a7 59 };
el13cj 0:c15ca34340a7 60
el13cj 0:c15ca34340a7 61 leg_x_angles test[2] = {
el13cj 0:c15ca34340a7 62
el13cj 0:c15ca34340a7 63 {-90,0,0},
el13cj 0:c15ca34340a7 64 {90,0,0}
el13cj 0:c15ca34340a7 65 };
el13cj 0:c15ca34340a7 66
el13cj 0:c15ca34340a7 67
el13cj 0:c15ca34340a7 68 #endif