Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

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

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

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 3:82ac75ea08a7 1 #ifndef HEXAPOD_LEG_ANGLES_DEMO_H
el13cj 3:82ac75ea08a7 2 #define HEXAPOD_LEG_ANGLES_DEMO_H
el13cj 3:82ac75ea08a7 3 #include "structs.h"
el13cj 3:82ac75ea08a7 4
el13cj 3:82ac75ea08a7 5 ///MOST CURRENT VERSION
el13cj 3:82ac75ea08a7 6
el13cj 3:82ac75ea08a7 7
el13cj 3:82ac75ea08a7 8 leg_x_angles all_leg_angles[6][6] =
el13cj 3:82ac75ea08a7 9 {
el13cj 3:82ac75ea08a7 10
el13cj 3:82ac75ea08a7 11
el13cj 3:82ac75ea08a7 12 {{0, 0, -90}, {-45.05,6.96,-96.50}, {-61.23,3.11,-92.55}, {-61.23,22.00,-109.89}, {-27.17,29.09,-109.89}, {-27.17,9.03,-92.55}}, //3
el13cj 3:82ac75ea08a7 13
el13cj 3:82ac75ea08a7 14 {{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 3:82ac75ea08a7 15
el13cj 3:82ac75ea08a7 16 {{0, 0, -90}, {45.05,6.96,-96.50}, {27.17,9.03,-92.55}, {27.17,29.09,-109.89}, {61.23,22.00,-109.89}, {61.23,3.11,-92.55}}, //1
el13cj 3:82ac75ea08a7 17
el13cj 3:82ac75ea08a7 18 {{0, 0, -90}, {-44.95,6.96,-96.50}, {-28.77,3.11,-92.55}, {-28.77,22.00,-109.89}, {-62.83,29.09,-109.89}, {-62.83,9.03,-92.55}}, //4
el13cj 3:82ac75ea08a7 19
el13cj 3:82ac75ea08a7 20 {{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 3:82ac75ea08a7 21
el13cj 3:82ac75ea08a7 22 {{0, 0, -90}, {44.95,6.96,-96.50}, {62.83,9.03,-92.55}, {62.83,29.09,-109.89}, {28.77,22.00,-109.89}, {28.77,3.11,-92.55}} //6
el13cj 3:82ac75ea08a7 23
el13cj 3:82ac75ea08a7 24 };
el13cj 3:82ac75ea08a7 25
el13cj 3:82ac75ea08a7 26
el13cj 3:82ac75ea08a7 27 #endif
el13cj 3:82ac75ea08a7 28