angles_X.h

00001 #ifndef HEXAPOD_LEG_ANGLES_X_H
00002 #define HEXAPOD_LEG_ANGLES_X_H
00003 #include "structs.h"
00004 
00005 struct angles
00006 
00007 {
00008     leg_x_angles angle[5];
00009 
00010 };
00011 
00012 
00013 leg_x_angles leg_x1_angles[5] =
00014 {
00015     {-81.103,9.871,-101.508},   //POSITION 1
00016     {-81.103,31.098,-119.675},  //
00017     {-45.000,30.471,-125.723},  //
00018     {-8.897,31.098,-119.675},   //
00019     {-8.897,9.871,-101.508},    //POSITION 5
00020 };
00021 
00022 leg_x_angles leg_x2_angles[5] = 
00023 {
00024     {0,9.708,-96.502},          //POSITION 1
00025     {-22.834,9.033,-92.554},    //
00026     {-22.834,29.089,-109.885},  //
00027     {22.834,29.089,-109.885},   //
00028     {22.834,9.033,-92.554}      //POSITION 5
00029 };
00030 
00031 leg_x_angles leg_x3_angles[5] = 
00032 {
00033     {-8.897, 9.871,-101.508},   //POSITION 1
00034     {-8.897,31.098,-119.675},   //
00035     {-45.000,30.471,-125.723},  //
00036     {-81.103,31.098,-119.675},  //  
00037     {-81.103,9.871,-101.508}    //POSITION 5
00038 };
00039 
00040 
00041 
00042 leg_x_angles leg_all_angles[3][5] = 
00043 {
00044     {{-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}},
00045     {{-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}},
00046     {{-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}}
00047     
00048 };
00049 
00050 typedef const struct angles leg_sequence;
00051 /*
00052 leg_sequence sequence[3] = 
00053 
00054 {
00055     {leg_x1_angles, leg_x2_angles, leg_x3_angles}
00056 
00057 };
00058 
00059 
00060 */
00061 #endif