Diff: Angles/angles_X.h

Revision:

0:c15ca34340a7

Child:

1:24ba9327c9ee

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Angles/angles_X.h	Tue May 03 15:54:32 2016 +0000
@@ -0,0 +1,56 @@
+#ifndef HEXAPOD_LEG_ANGLES_X_H
+#define HEXAPOD_LEG_ANGLES_X_H
+#include "structs.h"
+
+struct leg_sequence
+
+{
+    leg_x_angles;
+
+};
+
+
+leg_x_angles leg_1_angles[5] =
+{
+    {-81.103,9.871,-101.508},   //POSITION 1
+    {-81.103,31.098,-119.675},  //
+    {-45.000,30.471,-125.723},  //
+    {-8.897,31.098,-119.675},   //
+    {-8.897,9.871,-101.508},    //POSITION 5
+};
+
+leg_x_angles leg_2_angles[5] = 
+{
+    {0,9.708,-96.502},          //POSITION 1
+    {-22.834,9.033,-92.554},    //
+    {-22.834,29.089,-109.885},  //
+    {22.834,29.089,-109.885},   //
+    {22.834,9.033,-92.554}      //POSITION 5
+};
+
+leg_x_angles leg_3_angles[5] = 
+{
+    {-8.897, 9.871,-101.508},   //POSITION 1
+    {-8.897,31.098,-119.675},   //
+    {-45.000,30.471,-125.723},  //
+    {-81.103,31.098,-119.675},  //  
+    {-81.103,9.871,-101.508}    //POSITION 5
+};
+
+
+typedef const struct leg_sequence sequence;
+
+leg_sequence sequence = 
+
+{
+    leg_1_angles,
+    leg_2_angles,
+    leg_3_angles,
+    leg_4_angles,
+    leg_5_angles,
+    leg_6_angles
+};
+
+
+
+#endif
\ No newline at end of file