angles_1.h

00001 #ifndef HEXAPOD_LEG_ANGLES_1_H
00002 #define HEXAPOD_LEG_ANGLES_1_H
00003 #include "structs.h"
00004 
00005 
00006 //typedef const struct leg_angles leg_x_angles;
00007 
00008 
00009 leg_x_angles leg_1_angles[6] = {
00010     {-45.000,8.463,-106.756},
00011     {-81.103,9.871,-101.508},
00012     {-81.103,31.098,-119.675},
00013     {-45.000,30.471,-125.723},
00014     {-8.897,31.098,-119.675},
00015     {-8.897,9.871,-101.508}
00016 };
00017 
00018 leg_x_angles leg_2_angles[6] = {
00019     {0.000,9.708,-96.502},
00020     {-22.834,9.033,-92.554},
00021     {-22.834,29.089,-109.885},
00022     {0.000,30.235,-114.130},
00023     {22.834,29.089,-109.885},
00024     {22.834,9.033,-92.554}
00025 };
00026 
00027 leg_x_angles leg_3_angles[6] = {
00028     {-45.000,8.463,-106.756},
00029     {-8.897,9.871,-101.508},
00030     {-8.897,31.098,-119.675},
00031     {-45.000,30.471,-125.723},
00032     {-81.103,31.098,-119.675},
00033     {-81.103,9.871,-101.508}
00034 };
00035 
00036 leg_x_angles leg_4_angles[6] = {
00037     {45.000,8.463,-106.756},
00038     {8.897,9.871,-101.508},
00039     {8.897,31.098,-119.675},
00040     {45.000,30.471,-125.723},
00041     {81.103,31.098,-119.675},
00042     {81.103,9.871,-101.508}
00043 };
00044 
00045 leg_x_angles leg_5_angles[6] = {
00046     {45.000,2.067,-72.716},
00047     {45.000,2.067,-72.716},
00048     {45.000,20.911,-89.912},
00049     {45.000,20.911,-89.912},
00050     {45.000,20.911,-89.912},
00051     {45.000,2.067,-72.716}
00052 };
00053 
00054 leg_x_angles leg_6_angles[6] = {
00055     {45.000,8.463,-106.756},
00056     {81.103,9.871,-101.508},
00057     {81.103,31.098,-119.675},
00058     {45.000,30.471,-125.723},
00059     {8.897,31.098,-119.675},
00060     {8.897,9.871,-101.508}
00061 };
00062 
00063 leg_x_angles test[2] = {
00064     
00065     {-90,0,0},
00066     {90,0,0}
00067 };
00068 #endif