Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_9.h@2:e83b4acfcb36, 2016-05-11 (annotated)

Committer:
el13cj
Date:
Wed May 11 13:31:45 2016 +0000
Revision:
2:e83b4acfcb36
Child:
3:82ac75ea08a7
Working

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 2:e83b4acfcb36 5 ///MOST CURRENT VERSION
el13cj 2:e83b4acfcb36 6
el13cj 2:e83b4acfcb36 7
el13cj 2:e83b4acfcb36 8 leg_x_angles all_leg_angles[6][6] =
el13cj 2:e83b4acfcb36 9 {
el13cj 2:e83b4acfcb36 10
el13cj 2:e83b4acfcb36 11
el13cj 2:e83b4acfcb36 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 2:e83b4acfcb36 13
el13cj 2:e83b4acfcb36 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 2:e83b4acfcb36 15
el13cj 2:e83b4acfcb36 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 2:e83b4acfcb36 17
el13cj 2:e83b4acfcb36 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 2:e83b4acfcb36 19
el13cj 2:e83b4acfcb36 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 2:e83b4acfcb36 21
el13cj 2:e83b4acfcb36 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 2:e83b4acfcb36 23
el13cj 2:e83b4acfcb36 24 };
el13cj 2:e83b4acfcb36 25
el13cj 2:e83b4acfcb36 26
el13cj 2:e83b4acfcb36 27 #endif
el13cj 2:e83b4acfcb36 28