angles_4.h

00001 #ifndef HEXAPOD_LEG_ANGLES_4_H
00002 #define HEXAPOD_LEG_ANGLES_4_H
00003 #include "structs.h"
00004 
00005 
00006 leg_x_angles leg_3_angles[6] = 
00007 {
00008     {45.045791,6.961481,-85.138055}, //start
00009     {37.166348,9.032732,-92.553967}, //one 
00010     {37.166348,29.088714,-109.884602}, // two
00011     //{45.045791,26.343872,-102.169904}, //three
00012     {51.229998,22.004872,-92.215081}, //four
00013     {51.229998,3.11193,-75.112874} //five
00014 };
00015 
00016 leg_x_angles leg_2_angles[6] = {
00017     {0,9.708465,-96.5021}, //start
00018     {-22.8337,9.032732,-92.554},
00019     {-22.8337,29.08871,-109.885},
00020     //{0,30.23517,-114.13},
00021     {22.83365,29.08871,-109.885},
00022     {22.83365,9.032732,-92.554}
00023 };
00024 
00025 leg_x_angles leg_1_angles[6] = {
00026     {-45.045791,6.961481,-85.138055},
00027     {-51.229998,3.11193,-75.112874},
00028     {-51.229998,22.004872,-92.215081},
00029     //{-45.045791,26.343872,-102.169904},
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     {-44.954211,6.961481,-85.138055},
00036     {-52.833654,9.032732,-92.553967},
00037     {-52.833654,29.088714,-109.884602},
00038     //{-44.954211,26.343872,-102.169904},
00039     {-38.770007,22.004872,-92.215081},
00040     {-38.770007,3.11193,-75.112874}
00041 };
00042 
00043 leg_x_angles leg_5_angles[6] = {
00044     {0,9.708465,-96.5021},
00045     {22.83365,9.032732,-92.554},
00046     {22.83365,29.08871,-109.885},
00047     //{0,30.23517,-114.13},
00048     {-22.8337,29.08871,-109.885},
00049     {-22.8337,9.032732,-92.554}
00050 };
00051 
00052 leg_x_angles leg_6_angles[6] = {
00053     {44.954211,6.961481,-85.138055},
00054     {38.770007,3.11193,-75.112874},
00055     {38.770007,22.004872,-92.215081},
00056     //{44.954211,26.343872,-102.169904},
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