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FireFly 2011: tuned leg positions, walk sequence and IK

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From 'hexapod V2 29-12-11.rar' (main file was hexapod.pde).
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mangavalk committed 2011-12-02 22:03:05 +01:00
1 parent fe472bfce9
commit 8e66e26bb9
3 files changed
+24 -40
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2011-firefly-mega-ssc32/firmware/2011-nunchuk/hexapod_oud/sequnces.h
+10 -30
View File
@@ -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}
};