Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_1.h@0:c15ca34340a7, 2016-05-03 (annotated)

Committer:
el13cj
Date:
Tue May 03 15:54:32 2016 +0000
Revision:
0:c15ca34340a7
WORKING FULLY BEFORE ADDING GAIT DIRECTIONS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el13cj 0:c15ca34340a7 1 #ifndef HEXAPOD_LEG_ANGLES_1_H
el13cj 0:c15ca34340a7 2 #define HEXAPOD_LEG_ANGLES_1_H
el13cj 0:c15ca34340a7 3 #include "structs.h"
el13cj 0:c15ca34340a7 4
el13cj 0:c15ca34340a7 5
el13cj 0:c15ca34340a7 6 //typedef const struct leg_angles leg_x_angles;
el13cj 0:c15ca34340a7 7
el13cj 0:c15ca34340a7 8
el13cj 0:c15ca34340a7 9 leg_x_angles leg_1_angles[6] = {
el13cj 0:c15ca34340a7 10 {-45.000,8.463,-106.756},
el13cj 0:c15ca34340a7 11 {-81.103,9.871,-101.508},
el13cj 0:c15ca34340a7 12 {-81.103,31.098,-119.675},
el13cj 0:c15ca34340a7 13 {-45.000,30.471,-125.723},
el13cj 0:c15ca34340a7 14 {-8.897,31.098,-119.675},
el13cj 0:c15ca34340a7 15 {-8.897,9.871,-101.508}
el13cj 0:c15ca34340a7 16 };
el13cj 0:c15ca34340a7 17
el13cj 0:c15ca34340a7 18 leg_x_angles leg_2_angles[6] = {
el13cj 0:c15ca34340a7 19 {0.000,9.708,-96.502},
el13cj 0:c15ca34340a7 20 {-22.834,9.033,-92.554},
el13cj 0:c15ca34340a7 21 {-22.834,29.089,-109.885},
el13cj 0:c15ca34340a7 22 {0.000,30.235,-114.130},
el13cj 0:c15ca34340a7 23 {22.834,29.089,-109.885},
el13cj 0:c15ca34340a7 24 {22.834,9.033,-92.554}
el13cj 0:c15ca34340a7 25 };
el13cj 0:c15ca34340a7 26
el13cj 0:c15ca34340a7 27 leg_x_angles leg_3_angles[6] = {
el13cj 0:c15ca34340a7 28 {-45.000,8.463,-106.756},
el13cj 0:c15ca34340a7 29 {-8.897,9.871,-101.508},
el13cj 0:c15ca34340a7 30 {-8.897,31.098,-119.675},
el13cj 0:c15ca34340a7 31 {-45.000,30.471,-125.723},
el13cj 0:c15ca34340a7 32 {-81.103,31.098,-119.675},
el13cj 0:c15ca34340a7 33 {-81.103,9.871,-101.508}
el13cj 0:c15ca34340a7 34 };
el13cj 0:c15ca34340a7 35
el13cj 0:c15ca34340a7 36 leg_x_angles leg_4_angles[6] = {
el13cj 0:c15ca34340a7 37 {45.000,8.463,-106.756},
el13cj 0:c15ca34340a7 38 {8.897,9.871,-101.508},
el13cj 0:c15ca34340a7 39 {8.897,31.098,-119.675},
el13cj 0:c15ca34340a7 40 {45.000,30.471,-125.723},
el13cj 0:c15ca34340a7 41 {81.103,31.098,-119.675},
el13cj 0:c15ca34340a7 42 {81.103,9.871,-101.508}
el13cj 0:c15ca34340a7 43 };
el13cj 0:c15ca34340a7 44
el13cj 0:c15ca34340a7 45 leg_x_angles leg_5_angles[6] = {
el13cj 0:c15ca34340a7 46 {45.000,2.067,-72.716},
el13cj 0:c15ca34340a7 47 {45.000,2.067,-72.716},
el13cj 0:c15ca34340a7 48 {45.000,20.911,-89.912},
el13cj 0:c15ca34340a7 49 {45.000,20.911,-89.912},
el13cj 0:c15ca34340a7 50 {45.000,20.911,-89.912},
el13cj 0:c15ca34340a7 51 {45.000,2.067,-72.716}
el13cj 0:c15ca34340a7 52 };
el13cj 0:c15ca34340a7 53
el13cj 0:c15ca34340a7 54 leg_x_angles leg_6_angles[6] = {
el13cj 0:c15ca34340a7 55 {45.000,8.463,-106.756},
el13cj 0:c15ca34340a7 56 {81.103,9.871,-101.508},
el13cj 0:c15ca34340a7 57 {81.103,31.098,-119.675},
el13cj 0:c15ca34340a7 58 {45.000,30.471,-125.723},
el13cj 0:c15ca34340a7 59 {8.897,31.098,-119.675},
el13cj 0:c15ca34340a7 60 {8.897,9.871,-101.508}
el13cj 0:c15ca34340a7 61 };
el13cj 0:c15ca34340a7 62
el13cj 0:c15ca34340a7 63 leg_x_angles test[2] = {
el13cj 0:c15ca34340a7 64
el13cj 0:c15ca34340a7 65 {-90,0,0},
el13cj 0:c15ca34340a7 66 {90,0,0}
el13cj 0:c15ca34340a7 67 };
el13cj 0:c15ca34340a7 68 #endif