Martin Smith
/
ERIC_Walking_4_Legs
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Dependencies: mbed AX12_Hardware
Diff: Globals.cpp
- Revision:
- 0:8a7c1e92d067
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Globals.cpp Sun Oct 16 16:01:08 2011 +0000
@@ -0,0 +1,29 @@
+#include "FK.h"
+
+/****************************************************
+Global AX-12+ Servos
+****************************************************/
+ AX12 Hind_Right_Hip_Lateral(p28, p27, p29, 1),
+ Hind_Right_Hip(p28, p27, p29, 2),
+ Hind_Right_Knee(p28, p27, p29, 3),
+ Hind_Left_Hip_Lateral(p28, p27, p29, 4),
+ Hind_Left_Hip(p28, p27, p29, 5),
+ Hind_Left_Knee(p28, p27, p29, 6),
+ Fore_Right_Hip_Lateral(p28, p27, p29, 7),
+ Fore_Right_Hip(p28, p27, p29, 8),
+ Fore_Right_Knee(p28, p27, p29, 9),
+ Fore_Left_Hip_Lateral(p28, p27, p29, 10),
+ Fore_Left_Hip(p28, p27, p29, 11),
+ Fore_Left_Knee(p28, p27, p29, 12);
+
+/***********************************************************************************
+Poses - Target servo position data
+format: Right fore leg XYZ, Left fore leg XYZ, Right hind leg XYZ, Left hind leg XYZ
+************************************************************************************/
+// Right fore leg| Left fore leg|Right hind leg| Left hind
+// X Y Z | X Y Z | X Y Z | X Y Z
+const int Sit1[] = { 70, -80,-190, -70, -80,-190, 70, 60,-130, -70, 60,-130};
+const int Sit2[] = { 70, -80,-190, -70, -80,-190, 150, 60,-130,-150, 60,-130};
+const int Sit3[] = { 70, -80,-190, -70, -80,-190, 155, 20, -25,-150, 20, -25};
+const int Sit4[] = { 70, 80,-125, -70, 80,-125, 150, -10, -30,-150, -10, -30};
+const int Stand[] = { 70, 50,-200, -70, 50,-200, 150, -50,-180,-150, -50,-180};