Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_3.h

Committer:
el13cj
Date:
2016-05-11
Revision:
3:82ac75ea08a7
Parent:
1:24ba9327c9ee

File content as of revision 3:82ac75ea08a7:

#ifndef HEXAPOD_LEG_ANGLES_3_H
#define HEXAPOD_LEG_ANGLES_3_H
#include "structs.h"


leg_x_angles leg_3_angles[6] = 
{
    {45.045791,6.961481,-85.138055},
    {37.166348,9.032732,-92.553967},
    {37.166348,29.088714,-109.884602},
    {45.045791,26.343872,-102.169904},
    {51.229998,22.004872,-92.215081},
    {51.229998,3.11193,-75.112874}
};

leg_x_angles leg_2_angles[6] = {
    {0,9.708465,-96.5021},
    {-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