Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_X.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_X_H
el13cj 0:c15ca34340a7 2 #define HEXAPOD_LEG_ANGLES_X_H
el13cj 0:c15ca34340a7 3 #include "structs.h"
el13cj 0:c15ca34340a7 4
el13cj 0:c15ca34340a7 5 struct leg_sequence
el13cj 0:c15ca34340a7 6
el13cj 0:c15ca34340a7 7 {
el13cj 0:c15ca34340a7 8 leg_x_angles;
el13cj 0:c15ca34340a7 9
el13cj 0:c15ca34340a7 10 };
el13cj 0:c15ca34340a7 11
el13cj 0:c15ca34340a7 12
el13cj 0:c15ca34340a7 13 leg_x_angles leg_1_angles[5] =
el13cj 0:c15ca34340a7 14 {
el13cj 0:c15ca34340a7 15 {-81.103,9.871,-101.508}, //POSITION 1
el13cj 0:c15ca34340a7 16 {-81.103,31.098,-119.675}, //
el13cj 0:c15ca34340a7 17 {-45.000,30.471,-125.723}, //
el13cj 0:c15ca34340a7 18 {-8.897,31.098,-119.675}, //
el13cj 0:c15ca34340a7 19 {-8.897,9.871,-101.508}, //POSITION 5
el13cj 0:c15ca34340a7 20 };
el13cj 0:c15ca34340a7 21
el13cj 0:c15ca34340a7 22 leg_x_angles leg_2_angles[5] =
el13cj 0:c15ca34340a7 23 {
el13cj 0:c15ca34340a7 24 {0,9.708,-96.502}, //POSITION 1
el13cj 0:c15ca34340a7 25 {-22.834,9.033,-92.554}, //
el13cj 0:c15ca34340a7 26 {-22.834,29.089,-109.885}, //
el13cj 0:c15ca34340a7 27 {22.834,29.089,-109.885}, //
el13cj 0:c15ca34340a7 28 {22.834,9.033,-92.554} //POSITION 5
el13cj 0:c15ca34340a7 29 };
el13cj 0:c15ca34340a7 30
el13cj 0:c15ca34340a7 31 leg_x_angles leg_3_angles[5] =
el13cj 0:c15ca34340a7 32 {
el13cj 0:c15ca34340a7 33 {-8.897, 9.871,-101.508}, //POSITION 1
el13cj 0:c15ca34340a7 34 {-8.897,31.098,-119.675}, //
el13cj 0:c15ca34340a7 35 {-45.000,30.471,-125.723}, //
el13cj 0:c15ca34340a7 36 {-81.103,31.098,-119.675}, //
el13cj 0:c15ca34340a7 37 {-81.103,9.871,-101.508} //POSITION 5
el13cj 0:c15ca34340a7 38 };
el13cj 0:c15ca34340a7 39
el13cj 0:c15ca34340a7 40
el13cj 0:c15ca34340a7 41 typedef const struct leg_sequence sequence;
el13cj 0:c15ca34340a7 42
el13cj 0:c15ca34340a7 43 leg_sequence sequence =
el13cj 0:c15ca34340a7 44
el13cj 0:c15ca34340a7 45 {
el13cj 0:c15ca34340a7 46 leg_1_angles,
el13cj 0:c15ca34340a7 47 leg_2_angles,
el13cj 0:c15ca34340a7 48 leg_3_angles,
el13cj 0:c15ca34340a7 49 leg_4_angles,
el13cj 0:c15ca34340a7 50 leg_5_angles,
el13cj 0:c15ca34340a7 51 leg_6_angles
el13cj 0:c15ca34340a7 52 };
el13cj 0:c15ca34340a7 53
el13cj 0:c15ca34340a7 54
el13cj 0:c15ca34340a7 55
el13cj 0:c15ca34340a7 56 #endif