angles_demo.h

00001 #ifndef HEXAPOD_LEG_ANGLES_DEMO_H
00002 #define HEXAPOD_LEG_ANGLES_DEMO_H
00003 #include "structs.h"
00004 
00005 ///MOST CURRENT VERSION
00006 
00007 
00008 leg_x_angles all_leg_angles[6][6] = 
00009 {
00010 
00011 
00012 {{0, 0, -90},   {-45.05,6.96,-96.50},   {-61.23,3.11,-92.55},   {-61.23,22.00,-109.89}, {-27.17,29.09,-109.89}, {-27.17,9.03,-92.55}}, //3
00013 
00014 {{0, 0, -90},   {0.00,9.71,-96.50},     {-22.83,9.03,-92.55},   {-22.83,29.09,-109.89}, {22.83,29.09,-109.89},  {22.83,9.03,-92.55}},  //2
00015 
00016 {{0, 0, -90},   {45.05,6.96,-96.50},    {27.17,9.03,-92.55},    {27.17,29.09,-109.89},  {61.23,22.00,-109.89},  {61.23,3.11,-92.55}},  //1
00017 
00018 {{0, 0, -90},   {-44.95,6.96,-96.50},   {-28.77,3.11,-92.55},   {-28.77,22.00,-109.89}, {-62.83,29.09,-109.89}, {-62.83,9.03,-92.55}}, //4
00019 
00020 {{0, 0, -90},   {0.00,9.71,-96.50},     {22.83,9.03,-92.55},    {22.83,29.09,-109.89},  {-22.83,29.09,-109.89}, {-22.83,9.03,-92.55}}, //5
00021 
00022 {{0, 0, -90},   {44.95,6.96,-96.50},    {62.83,9.03,-92.55},    {62.83,29.09,-109.89},  {28.77,22.00,-109.89},  {28.77,3.11,-92.55}}   //6
00023 
00024 };
00025 
00026 
00027 #endif
00028