Calum Johnston / Hexapod_Library

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

Dependencies:   Gait Hexapod_Leg PCA9685 Tripod

Angles/angles_1.h

Committer:
el13cj
Date:
2016-05-03
Revision:
0:c15ca34340a7

File content as of revision 0:c15ca34340a7:

#ifndef HEXAPOD_LEG_ANGLES_1_H
#define HEXAPOD_LEG_ANGLES_1_H
#include "structs.h"


//typedef const struct leg_angles leg_x_angles;


leg_x_angles leg_1_angles[6] = {
    {-45.000,8.463,-106.756},
    {-81.103,9.871,-101.508},
    {-81.103,31.098,-119.675},
    {-45.000,30.471,-125.723},
    {-8.897,31.098,-119.675},
    {-8.897,9.871,-101.508}
};

leg_x_angles leg_2_angles[6] = {
    {0.000,9.708,-96.502},
    {-22.834,9.033,-92.554},
    {-22.834,29.089,-109.885},
    {0.000,30.235,-114.130},
    {22.834,29.089,-109.885},
    {22.834,9.033,-92.554}
};

leg_x_angles leg_3_angles[6] = {
    {-45.000,8.463,-106.756},
    {-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}
};

leg_x_angles leg_4_angles[6] = {
    {45.000,8.463,-106.756},
    {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}
};

leg_x_angles leg_5_angles[6] = {
    {45.000,2.067,-72.716},
    {45.000,2.067,-72.716},
    {45.000,20.911,-89.912},
    {45.000,20.911,-89.912},
    {45.000,20.911,-89.912},
    {45.000,2.067,-72.716}
};

leg_x_angles leg_6_angles[6] = {
    {45.000,8.463,-106.756},
    {81.103,9.871,-101.508},
    {81.103,31.098,-119.675},
    {45.000,30.471,-125.723},
    {8.897,31.098,-119.675},
    {8.897,9.871,-101.508}
};

leg_x_angles test[2] = {
    
    {-90,0,0},
    {90,0,0}
};
#endif