Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_9.h

Committer:
el13cj
Date:
2016-05-11
Revision:
3:82ac75ea08a7
Parent:
2:e83b4acfcb36

File content as of revision 3:82ac75ea08a7:

#ifndef HEXAPOD_LEG_ANGLES_9_H
#define HEXAPOD_LEG_ANGLES_9_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