Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_6.h@3:82ac75ea08a7, 2016-05-11 (annotated)

Committer:
el13cj
Date:
Wed May 11 15:47:09 2016 +0000
Revision:
3:82ac75ea08a7
Parent:
2:e83b4acfcb36 
Ready

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 2:e83b4acfcb36 1 #ifndef HEXAPOD_LEG_ANGLES_6_H
el13cj 2:e83b4acfcb36 2 #define HEXAPOD_LEG_ANGLES_6_H
el13cj 2:e83b4acfcb36 3 #include "structs.h"
el13cj 2:e83b4acfcb36 4
el13cj 3:82ac75ea08a7 5 leg_x_angles all_leg_angles[6][6] =
el13cj 2:e83b4acfcb36 6 {
el13cj 2:e83b4acfcb36 7
el13cj 2:e83b4acfcb36 8
el13cj 3:82ac75ea08a7 9 {{0, 0, -90}, {-45.05,6.96,-96.50}, {-51.23,3.11,-92.55}, {-51.23,22.00,-109.89}, {-37.17,29.09,-109.89}, {-37.17,9.03,-92.55}}, //3
el13cj 2:e83b4acfcb36 10
el13cj 3:82ac75ea08a7 11 {{0, 0, -90}, {0.00,9.71,-96.50}, {-22.83,9.03,-92.55}, {-22.83,29.09,-109.89}, {22.83,29.09,-109.89}, {22.83,9.03,-92.55}}, //2
el13cj 2:e83b4acfcb36 12
el13cj 3:82ac75ea08a7 13 {{0, 0, -90}, {45.05,6.96,-96.50}, {37.17,9.03,-92.55}, {37.17,29.09,-109.89}, {51.23,22.00,-109.89}, {51.23,3.11,-92.55}}, //1
el13cj 2:e83b4acfcb36 14
el13cj 3:82ac75ea08a7 15 {{0, 0, -90}, {-44.95,6.96,-96.50}, {-52.83,9.03,-92.55}, {-52.83,29.09,-109.89}, {-38.77,22.00,-109.89}, {-38.77,3.11,-92.55}}, //4
el13cj 2:e83b4acfcb36 16
el13cj 3:82ac75ea08a7 17 {{0, 0, -90}, {0.00,9.71,-96.50}, {22.83,9.03,-92.55}, {22.83,29.09,-109.89}, {-22.83,29.09,-109.89}, {-22.83,9.03,-92.55}}, //5
el13cj 2:e83b4acfcb36 18
el13cj 3:82ac75ea08a7 19 {{0, 0, -90}, {44.95,6.96,-96.50}, {38.77,3.11,-92.55}, {38.77,22.00,-109.89}, {52.83,29.09,-109.89}, {52.83,9.03,-92.55}} //6
el13cj 2:e83b4acfcb36 20
el13cj 2:e83b4acfcb36 21 };
el13cj 2:e83b4acfcb36 22
el13cj 2:e83b4acfcb36 23
el13cj 2:e83b4acfcb36 24 #endif