angles_2.h

00001 #ifndef HEXAPOD_LEG_ANGLES_2_H
00002 #define HEXAPOD_LEG_ANGLES_2_H
00003 #include "structs.h"
00004 
00005 //typedef const struct leg_angles leg_x_angles;
00006 
00007 leg_x_angles leg_1_angles[6] = {
00008     {60.000002,9.708465,-96.502056},
00009     {82.833652,9.032727,-92.553954},
00010     {82.833652,29.08871,-109.884589},
00011     {60.000002,30.235171,-114.129811},
00012     {37.166348,29.088714,-109.884602},
00013     {37.166348,9.032732,-92.553967}
00014 };
00015 
00016 leg_x_angles leg_2_angles[6] = {
00017     {0,9.708465,-96.502056},
00018     {-22.833654,9.032732,-92.553967},
00019     {-22.833654,29.088714,-109.884602},
00020     {0,30.235171,-114.129811},
00021     {22.833654,29.088714,-109.884602},
00022     {22.833654,9.032732,-92.553967}
00023 };
00024 
00025 leg_x_angles leg_3_angles[6] = {
00026     {-60.000002,9.708465,-96.502056},
00027     {-82.833652,9.032727,-92.553954},
00028     {-82.833652,29.08871,-109.884589},
00029     {-60.000002,30.235171,-114.129811},
00030     {-37.166348,29.088714,-109.884602},
00031     {-37.166348,9.032732,-92.553967}
00032 };
00033 
00034 leg_x_angles leg_4_angles[6] = {
00035     {-30.000003,9.708468,-96.502063},
00036     {-7.166346,9.032727,-92.553954},
00037     {-7.166346,29.08871,-109.884589},
00038     {-30.000003,30.235171,-114.129818},
00039     {-52.833654,29.088714,-109.884602},
00040     {-52.833654,9.032732,-92.553967}
00041 };
00042 
00043 leg_x_angles leg_5_angles[6] = {
00044     {0,9.708465,-96.502056},
00045     {22.833654,9.032732,-92.553967},
00046     {22.833654,29.088714,-109.884602},
00047     {0,30.235171,-114.129811},
00048     {-22.833654,29.088714,-109.884602},
00049     {-22.833654,9.032732,-92.553967}
00050 };
00051 
00052 leg_x_angles leg_6_angles[6] = {
00053     {30.000003,9.708468,-96.502063},
00054     {7.166346,9.032727,-92.553954},
00055     {7.166346,29.08871,-109.884589},
00056     {30.000003,30.235171,-114.129818},
00057     {52.833654,29.088714,-109.884602},
00058     {52.833654,9.032732,-92.553967}
00059 };
00060 
00061 leg_x_angles test[2] = {
00062 
00063     {-90,0,0},
00064     {90,0,0}
00065 };
00066 
00067 
00068 #endif