FireFly 2011: tuned leg positions, walk sequence and IK

From 'hexapod V2 29-12-11.rar' (main file was hexapod.pde).

2011-firefly-mega-ssc32/firmware/2011-nunchuk/hexapod_oud/InverseKinemetics.cpp

@@ -9,7 +9,10 @@ void InverseKinemetics::RL3 (int i)
 float InverseKinemetics::ZX (int i)
 {
   RL3(i);
-  float temp = degrees(acos((float)COR_2_IK[2+(i*3)] / l3));
+  if (COR_2_IK[2+(i*3)] != 0)
+    float temp = degrees(acos((float)COR_2_IK[2+(i*3)] / l3));
+  else
+    float temp = 90; // Math Error Protection.
   return temp;
 }
 
@@ -19,19 +22,19 @@ float InverseKinemetics::TT (int i)
   int y = pow(abs(COR_2_IK[1+(i*3)]), 2);
   int z = pow(abs(COR_2_IK[2+(i*3)]), 2);  
   s = sqrt(x + y + z);
-  
+
   if (s > (l1 + l2) )
     R[i] = 3;
-  
+
   float t1 = degrees(acos((pow(s, 2) + pow(COR_2_IK[1+(i*3)], 2) - pow(l3, 2))
-                                  / (2 * s * COR_2_IK[1+(i*3)])));
-                                  
+    / (2 * s * COR_2_IK[1+(i*3)])));
+
   float t2 = degrees(acos((pow(s, 2) + pow(l1, 2) - pow(l2, 2))
-                                  / (2 * s * l1)));
-  
+    / (2 * s * l1)));
+
   float temp = (int)t1 + t2;
   //Serial.print("DEBUG: "); Serial.print(t1); Serial.print(", "); Serial.print(t2); Serial.print(", "); Serial.println(temp);
-  
+
   return temp;
 }
 
@@ -150,4 +153,5 @@ int InverseKinemetics::CheckForErrorAng()
 
 
 
+
 

2011-firefly-mega-ssc32/firmware/2011-nunchuk/hexapod_oud/hexapod_oud.pde

@@ -101,8 +101,8 @@ void loop()
         COR_2_IK[2+(2*3)] = 10;///
         COR_2_IK[2+(3*3)] = -10;//
         COR_2_IK[2+(5*3)] = 10;///
-        COR_2_IK[0+(1*3)] = 15;// z side body
-        COR_2_IK[0+(4*3)] = 15;
+        COR_2_IK[0+(1*3)] = 10;// z side body
+        COR_2_IK[0+(4*3)] = 10;
       }
       else
       {

2011-firefly-mega-ssc32/firmware/2011-nunchuk/hexapod_oud/sequnces.h

@@ -2,37 +2,17 @@
 
 // Hexapod seqencer.
 int TriPoD_Size = 8;
-// zij, laag, achter
-// 15, 15, -15,   15, 15, 0,   15, 15, 15,   15, 15, -15,   15, 15, 0,   15, 15, 15;
+
 int TriPoD[8][18] = { 
-  {// -15 is voor
-    15, 2, 0,  15, 15, 0,    15, 2, 0,  15, 15, 0,15, 2, 0,  15, 15, 0                     }//miden*hoog, miden*laag
-  ,
-  {
-    15, 2, -2,  15, 15, 2,   15, 2, -2,  15, 15, 2,15, 2, -2,  15, 15, 2                  }// voor*hoog, achter*laag
-  ,
-  {
-    15, 15, -2,  15, 15, 2,    15, 15, -2,  15, 15, 2,15, 15, -2,  15, 15, 2                }// laag, niks
-  ,
-  {
-    15, 15, -2,  15, 2, 2,    15, 15, -2,  15, 2, 2,15, 15, -2,  15, 2, 2                 }// niks, hoog
-  ,
-  {
-    15, 15, 0,  15, 2, 0,    15, 15, 0,  15, 2, 0,15, 15, 0,  15, 2, 0                 }//midden*laag, miden*hoog
-  ,
-  {
-    15, 15, 2,  15, 2, -2,    15, 15, 2,  15, 2, -2,15, 15, 2,  15, 2, -2                   }//voor-laag, achter/hoog
-  ,
-  {
-    15, 15, 2,  15, 15, -2,    15, 15, 2,  15, 15, -2,15, 15, 2,  15, 15, -2                  }// niks, laag
-  ,
-  {
-    15, 2, 2,  15, 15, -2,    15, 2, 2,  15, 15, -2,15, 2, 2,  15, 15, -2                 }// hoog, niks
-};
-
-
-
-
+ {10,10, 0,10,15, 0,10,10, 0,10,15, 0,10,10, 0,10,15, 0},
+ {10,10,-2,10,15, 2,10,10,-2,10,15, 3,10,10,-2,10,15, 2},
+ {10,15,-2,10,15, 2,10,15,-2,10,15, 3,10,15,-2,10,15, 2},
+ {10,15,-2,10,10, 2,10,15,-2,10,10, 3,10,15,-2,10,10, 2},
+ {10,15, 0,10,10, 0,10,15, 0,10,10, 0,10,15, 0,10,10, 0},
+ {10,15, 2,10,10,-2,10,15, 2,10,10,-2,10,15, 2,10,10,-2},
+ {10,15, 2,10,15,-2,10,15, 2,10,15,-2,10,15, 2,10,15,-2},
+ {10,10, 2,10,15,-2,10,10, 2,10,15,-2,10,10, 2,10,15,-2}
+ };