Diff: Angles/angles_4.h

Revision:

1:24ba9327c9ee

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Angles/angles_4.h	Tue May 10 12:15:20 2016 +0000
@@ -0,0 +1,68 @@
+#ifndef HEXAPOD_LEG_ANGLES_4_H
+#define HEXAPOD_LEG_ANGLES_4_H
+#include "structs.h"
+
+
+leg_x_angles leg_3_angles[6] = 
+{
+    {45.045791,6.961481,-85.138055}, //start
+    {37.166348,9.032732,-92.553967}, //one 
+    {37.166348,29.088714,-109.884602}, // two
+    //{45.045791,26.343872,-102.169904}, //three
+    {51.229998,22.004872,-92.215081}, //four
+    {51.229998,3.11193,-75.112874} //five
+};
+
+leg_x_angles leg_2_angles[6] = {
+    {0,9.708465,-96.5021}, //start
+    {-22.8337,9.032732,-92.554},
+    {-22.8337,29.08871,-109.885},
+    //{0,30.23517,-114.13},
+    {22.83365,29.08871,-109.885},
+    {22.83365,9.032732,-92.554}
+};
+
+leg_x_angles leg_1_angles[6] = {
+    {-45.045791,6.961481,-85.138055},
+    {-51.229998,3.11193,-75.112874},
+    {-51.229998,22.004872,-92.215081},
+    //{-45.045791,26.343872,-102.169904},
+    {-37.166348,29.088714,-109.884602},
+    {-37.166348,9.032732,-92.553967}
+};
+
+leg_x_angles leg_4_angles[6] = {
+    {-44.954211,6.961481,-85.138055},
+    {-52.833654,9.032732,-92.553967},
+    {-52.833654,29.088714,-109.884602},
+    //{-44.954211,26.343872,-102.169904},
+    {-38.770007,22.004872,-92.215081},
+    {-38.770007,3.11193,-75.112874}
+};
+
+leg_x_angles leg_5_angles[6] = {
+    {0,9.708465,-96.5021},
+    {22.83365,9.032732,-92.554},
+    {22.83365,29.08871,-109.885},
+    //{0,30.23517,-114.13},
+    {-22.8337,29.08871,-109.885},
+    {-22.8337,9.032732,-92.554}
+};
+
+leg_x_angles leg_6_angles[6] = {
+    {44.954211,6.961481,-85.138055},
+    {38.770007,3.11193,-75.112874},
+    {38.770007,22.004872,-92.215081},
+    //{44.954211,26.343872,-102.169904},
+    {52.833654,29.088714,-109.884602},
+    {52.833654,9.032732,-92.553967}
+};
+
+leg_x_angles test[2] = {
+
+    {-90,0,0},
+    {90,0,0}
+};
+
+
+#endif
\ No newline at end of file