Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_X.h

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

File content as of revision 3:82ac75ea08a7:

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

struct angles

{
    leg_x_angles angle[5];

};


leg_x_angles leg_x1_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_x2_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_x3_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
};



leg_x_angles leg_all_angles[3][5] = 
{
    {{-8.897, 9.871,-101.508},{-8.897,31.098,-119.675},{-45.000,30.471,-125.723},{-81.103,31.098,-119.675},{-81.103,9.871,-101.508}},
    {{-8.897, 9.871,-101.508},{-8.897,31.098,-119.675},{-45.000,30.471,-125.723},{-81.103,31.098,-119.675},{-81.103,9.871,-101.508}},
    {{-8.897, 9.871,-101.508},{-8.897,31.098,-119.675},{-45.000,30.471,-125.723},{-81.103,31.098,-119.675},{-81.103,9.871,-101.508}}
    
};

typedef const struct angles leg_sequence;
/*
leg_sequence sequence[3] = 

{
    {leg_x1_angles, leg_x2_angles, leg_x3_angles}

};


*/
#endif