Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_4.h@3:82ac75ea08a7, 2016-05-11 (annotated)

Committer:
el13cj
Date:
Wed May 11 15:47:09 2016 +0000
Revision:
3:82ac75ea08a7
Parent:
1:24ba9327c9ee 
Ready

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 1:24ba9327c9ee 1 #ifndef HEXAPOD_LEG_ANGLES_4_H
el13cj 1:24ba9327c9ee 2 #define HEXAPOD_LEG_ANGLES_4_H
el13cj 1:24ba9327c9ee 3 #include "structs.h"
el13cj 1:24ba9327c9ee 4
el13cj 1:24ba9327c9ee 5
el13cj 1:24ba9327c9ee 6 leg_x_angles leg_3_angles[6] =
el13cj 1:24ba9327c9ee 7 {
el13cj 1:24ba9327c9ee 8 {45.045791,6.961481,-85.138055}, //start
el13cj 1:24ba9327c9ee 9 {37.166348,9.032732,-92.553967}, //one
el13cj 1:24ba9327c9ee 10 {37.166348,29.088714,-109.884602}, // two
el13cj 1:24ba9327c9ee 11 //{45.045791,26.343872,-102.169904}, //three
el13cj 1:24ba9327c9ee 12 {51.229998,22.004872,-92.215081}, //four
el13cj 1:24ba9327c9ee 13 {51.229998,3.11193,-75.112874} //five
el13cj 1:24ba9327c9ee 14 };
el13cj 1:24ba9327c9ee 15
el13cj 1:24ba9327c9ee 16 leg_x_angles leg_2_angles[6] = {
el13cj 1:24ba9327c9ee 17 {0,9.708465,-96.5021}, //start
el13cj 1:24ba9327c9ee 18 {-22.8337,9.032732,-92.554},
el13cj 1:24ba9327c9ee 19 {-22.8337,29.08871,-109.885},
el13cj 1:24ba9327c9ee 20 //{0,30.23517,-114.13},
el13cj 1:24ba9327c9ee 21 {22.83365,29.08871,-109.885},
el13cj 1:24ba9327c9ee 22 {22.83365,9.032732,-92.554}
el13cj 1:24ba9327c9ee 23 };
el13cj 1:24ba9327c9ee 24
el13cj 1:24ba9327c9ee 25 leg_x_angles leg_1_angles[6] = {
el13cj 1:24ba9327c9ee 26 {-45.045791,6.961481,-85.138055},
el13cj 1:24ba9327c9ee 27 {-51.229998,3.11193,-75.112874},
el13cj 1:24ba9327c9ee 28 {-51.229998,22.004872,-92.215081},
el13cj 1:24ba9327c9ee 29 //{-45.045791,26.343872,-102.169904},
el13cj 1:24ba9327c9ee 30 {-37.166348,29.088714,-109.884602},
el13cj 1:24ba9327c9ee 31 {-37.166348,9.032732,-92.553967}
el13cj 1:24ba9327c9ee 32 };
el13cj 1:24ba9327c9ee 33
el13cj 1:24ba9327c9ee 34 leg_x_angles leg_4_angles[6] = {
el13cj 1:24ba9327c9ee 35 {-44.954211,6.961481,-85.138055},
el13cj 1:24ba9327c9ee 36 {-52.833654,9.032732,-92.553967},
el13cj 1:24ba9327c9ee 37 {-52.833654,29.088714,-109.884602},
el13cj 1:24ba9327c9ee 38 //{-44.954211,26.343872,-102.169904},
el13cj 1:24ba9327c9ee 39 {-38.770007,22.004872,-92.215081},
el13cj 1:24ba9327c9ee 40 {-38.770007,3.11193,-75.112874}
el13cj 1:24ba9327c9ee 41 };
el13cj 1:24ba9327c9ee 42
el13cj 1:24ba9327c9ee 43 leg_x_angles leg_5_angles[6] = {
el13cj 1:24ba9327c9ee 44 {0,9.708465,-96.5021},
el13cj 1:24ba9327c9ee 45 {22.83365,9.032732,-92.554},
el13cj 1:24ba9327c9ee 46 {22.83365,29.08871,-109.885},
el13cj 1:24ba9327c9ee 47 //{0,30.23517,-114.13},
el13cj 1:24ba9327c9ee 48 {-22.8337,29.08871,-109.885},
el13cj 1:24ba9327c9ee 49 {-22.8337,9.032732,-92.554}
el13cj 1:24ba9327c9ee 50 };
el13cj 1:24ba9327c9ee 51
el13cj 1:24ba9327c9ee 52 leg_x_angles leg_6_angles[6] = {
el13cj 1:24ba9327c9ee 53 {44.954211,6.961481,-85.138055},
el13cj 1:24ba9327c9ee 54 {38.770007,3.11193,-75.112874},
el13cj 1:24ba9327c9ee 55 {38.770007,22.004872,-92.215081},
el13cj 1:24ba9327c9ee 56 //{44.954211,26.343872,-102.169904},
el13cj 1:24ba9327c9ee 57 {52.833654,29.088714,-109.884602},
el13cj 1:24ba9327c9ee 58 {52.833654,9.032732,-92.553967}
el13cj 1:24ba9327c9ee 59 };
el13cj 1:24ba9327c9ee 60
el13cj 1:24ba9327c9ee 61 leg_x_angles test[2] = {
el13cj 1:24ba9327c9ee 62
el13cj 1:24ba9327c9ee 63 {-90,0,0},
el13cj 1:24ba9327c9ee 64 {90,0,0}
el13cj 1:24ba9327c9ee 65 };
el13cj 1:24ba9327c9ee 66
el13cj 1:24ba9327c9ee 67
el13cj 1:24ba9327c9ee 68 #endif