Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_2.h

Committer:
el13cj
Date:
2016-05-11
Revision:
3:82ac75ea08a7
Parent:
0:c15ca34340a7

File content as of revision 3:82ac75ea08a7:

#ifndef HEXAPOD_LEG_ANGLES_2_H
#define HEXAPOD_LEG_ANGLES_2_H
#include "structs.h"

//typedef const struct leg_angles leg_x_angles;

leg_x_angles leg_1_angles[6] = {
    {60.000002,9.708465,-96.502056},
    {82.833652,9.032727,-92.553954},
    {82.833652,29.08871,-109.884589},
    {60.000002,30.235171,-114.129811},
    {37.166348,29.088714,-109.884602},
    {37.166348,9.032732,-92.553967}
};

leg_x_angles leg_2_angles[6] = {
    {0,9.708465,-96.502056},
    {-22.833654,9.032732,-92.553967},
    {-22.833654,29.088714,-109.884602},
    {0,30.235171,-114.129811},
    {22.833654,29.088714,-109.884602},
    {22.833654,9.032732,-92.553967}
};

leg_x_angles leg_3_angles[6] = {
    {-60.000002,9.708465,-96.502056},
    {-82.833652,9.032727,-92.553954},
    {-82.833652,29.08871,-109.884589},
    {-60.000002,30.235171,-114.129811},
    {-37.166348,29.088714,-109.884602},
    {-37.166348,9.032732,-92.553967}
};

leg_x_angles leg_4_angles[6] = {
    {-30.000003,9.708468,-96.502063},
    {-7.166346,9.032727,-92.553954},
    {-7.166346,29.08871,-109.884589},
    {-30.000003,30.235171,-114.129818},
    {-52.833654,29.088714,-109.884602},
    {-52.833654,9.032732,-92.553967}
};

leg_x_angles leg_5_angles[6] = {
    {0,9.708465,-96.502056},
    {22.833654,9.032732,-92.553967},
    {22.833654,29.088714,-109.884602},
    {0,30.235171,-114.129811},
    {-22.833654,29.088714,-109.884602},
    {-22.833654,9.032732,-92.553967}
};

leg_x_angles leg_6_angles[6] = {
    {30.000003,9.708468,-96.502063},
    {7.166346,9.032727,-92.553954},
    {7.166346,29.08871,-109.884589},
    {30.000003,30.235171,-114.129818},
    {52.833654,29.088714,-109.884602},
    {52.833654,9.032732,-92.553967}
};

leg_x_angles test[2] = {

    {-90,0,0},
    {90,0,0}
};


#endif