Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_3.h@0:c15ca34340a7, 2016-05-03 (annotated)

Committer:
el13cj
Date:
Tue May 03 15:54:32 2016 +0000
Revision:
0:c15ca34340a7
Child:
1:24ba9327c9ee
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_3_H
el13cj 0:c15ca34340a7 2 #define HEXAPOD_LEG_ANGLES_3_H
el13cj 0:c15ca34340a7 3 #include "structs.h"
el13cj 0:c15ca34340a7 4
el13cj 0:c15ca34340a7 5
el13cj 0:c15ca34340a7 6 leg_x_angles leg_1_angles[6] = {
el13cj 0:c15ca34340a7 7 {45.045791,6.961481,-85.138055},
el13cj 0:c15ca34340a7 8 {37.166348,9.032732,-92.553967},
el13cj 0:c15ca34340a7 9 {37.166348,29.088714,-109.884602},
el13cj 0:c15ca34340a7 10 {45.045791,26.343872,-102.169904},
el13cj 0:c15ca34340a7 11 {51.229998,22.004872,-92.215081},
el13cj 0:c15ca34340a7 12 {51.229998,3.11193,-75.112874}
el13cj 0:c15ca34340a7 13 };
el13cj 0:c15ca34340a7 14
el13cj 0:c15ca34340a7 15 leg_x_angles leg_2_angles[6] = {
el13cj 0:c15ca34340a7 16 {0,9.708465,-96.5021},
el13cj 0:c15ca34340a7 17 {-22.8337,9.032732,-92.554},
el13cj 0:c15ca34340a7 18 {-22.8337,29.08871,-109.885},
el13cj 0:c15ca34340a7 19 {0,30.23517,-114.13},
el13cj 0:c15ca34340a7 20 {22.83365,29.08871,-109.885},
el13cj 0:c15ca34340a7 21 {22.83365,9.032732,-92.554}
el13cj 0:c15ca34340a7 22 };
el13cj 0:c15ca34340a7 23
el13cj 0:c15ca34340a7 24 leg_x_angles leg_3_angles[6] = {
el13cj 0:c15ca34340a7 25 {-45.045791,6.961481,-85.138055},
el13cj 0:c15ca34340a7 26 {-51.229998,3.11193,-75.112874},
el13cj 0:c15ca34340a7 27 {-51.229998,22.004872,-92.215081},
el13cj 0:c15ca34340a7 28 {-45.045791,26.343872,-102.169904},
el13cj 0:c15ca34340a7 29 {-37.166348,29.088714,-109.884602},
el13cj 0:c15ca34340a7 30 {-37.166348,9.032732,-92.553967}
el13cj 0:c15ca34340a7 31 };
el13cj 0:c15ca34340a7 32
el13cj 0:c15ca34340a7 33 leg_x_angles leg_4_angles[6] = {
el13cj 0:c15ca34340a7 34 {-44.954211,6.961481,-85.138055},
el13cj 0:c15ca34340a7 35 {-52.833654,9.032732,-92.553967},
el13cj 0:c15ca34340a7 36 {-52.833654,29.088714,-109.884602},
el13cj 0:c15ca34340a7 37 {-44.954211,26.343872,-102.169904},
el13cj 0:c15ca34340a7 38 {-38.770007,22.004872,-92.215081},
el13cj 0:c15ca34340a7 39 {-38.770007,3.11193,-75.112874}
el13cj 0:c15ca34340a7 40 };
el13cj 0:c15ca34340a7 41
el13cj 0:c15ca34340a7 42 leg_x_angles leg_5_angles[6] = {
el13cj 0:c15ca34340a7 43 {0,9.708465,-96.5021},
el13cj 0:c15ca34340a7 44 {22.83365,9.032732,-92.554},
el13cj 0:c15ca34340a7 45 {22.83365,29.08871,-109.885},
el13cj 0:c15ca34340a7 46 {0,30.23517,-114.13},
el13cj 0:c15ca34340a7 47 {-22.8337,29.08871,-109.885},
el13cj 0:c15ca34340a7 48 {-22.8337,9.032732,-92.554}
el13cj 0:c15ca34340a7 49 };
el13cj 0:c15ca34340a7 50
el13cj 0:c15ca34340a7 51 leg_x_angles leg_6_angles[6] = {
el13cj 0:c15ca34340a7 52 {44.954211,6.961481,-85.138055},
el13cj 0:c15ca34340a7 53 {38.770007,3.11193,-75.112874},
el13cj 0:c15ca34340a7 54 {38.770007,22.004872,-92.215081},
el13cj 0:c15ca34340a7 55 {44.954211,26.343872,-102.169904},
el13cj 0:c15ca34340a7 56 {52.833654,29.088714,-109.884602},
el13cj 0:c15ca34340a7 57 {52.833654,9.032732,-92.553967}
el13cj 0:c15ca34340a7 58 };
el13cj 0:c15ca34340a7 59
el13cj 0:c15ca34340a7 60 leg_x_angles test[2] = {
el13cj 0:c15ca34340a7 61
el13cj 0:c15ca34340a7 62 {-90,0,0},
el13cj 0:c15ca34340a7 63 {90,0,0}
el13cj 0:c15ca34340a7 64 };
el13cj 0:c15ca34340a7 65
el13cj 0:c15ca34340a7 66
el13cj 0:c15ca34340a7 67 #endif