Diff: Angles/angles_demo.h

Revision:

3:82ac75ea08a7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Angles/angles_demo.h	Wed May 11 15:47:09 2016 +0000
@@ -0,0 +1,28 @@
+#ifndef HEXAPOD_LEG_ANGLES_DEMO_H
+#define HEXAPOD_LEG_ANGLES_DEMO_H
+#include "structs.h"
+
+///MOST CURRENT VERSION
+
+
+leg_x_angles all_leg_angles[6][6] = 
+{
+
+
+{{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
+
+{{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
+
+{{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
+
+{{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
+
+{{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
+
+{{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
+
+};
+
+
+#endif
+