FireFly 2011: Arduino Mega + SSC-32, Wii Nunchuk, preset walking sequences

From Electronics\Hexapod\Arduino sketches 2011-2012\hexapod_oud (banner 'Version 3.0').

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

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+// Orbit.cpp
+
+#include "Orbit.h"
+
+void Orbit::getData(int iy[6], int ix[6], int iz[6])
+{
+  for (int i=0; i<6; i++)
+  {
+    x[i] = ix[i];
+    y[i] = iy[i];
+    z[i] = iz[i];
+  }
+  lx[0] = 5; 
+  lx[1] = 7; 
+  lx[2] = 5; 
+  lx[3] = 5; 
+  lx[4] = 7; 
+  lx[5] = 5; 
+  ly[0] = 10; 
+  ly[1] = 0; 
+  ly[2] = 10; 
+  ly[3] = 10; 
+  ly[4] = 0; 
+  ly[5] = 10;  
+}
+
+void Orbit::getAngle (int ix, int iy)
+{
+  oP = ix;
+  o2P = iy;
+  oN = 180 - ix;
+  o2N = 180 - iy;  
+}
+
+void Orbit::calculate()
+{
+  // X Size.
+  // Right side.
+  for (int i=3; i<6; i++)
+  {
+    float l1 = sqrt(pow(x[i], 2) + pow(y[i], 2));
+    float o1 = degrees(atan(y[i] / x[i]));
+    float o2 = oP - o1;  
+    Ny[i] = sin(radians(o2)) * l1;
+    Nx[i] = (cos(radians(o2)) * l1) - lx[i];
+    Nz[i] = z[i];
+  }
+
+  // Left size;
+  for (int i=0; i<4; i++)
+  {
+    float l1 = sqrt(pow(x[i], 2) + pow(y[i], 2));
+    float o1 = degrees(atan(y[i] / x[i]));
+    float o2 = oN - o1;  
+    Ny[i] = sin(radians(o2)) * l1;
+    Nx[i] = (cos(radians(o2)) * l1) - lx[i];
+    Nz[i] = z[i];
+  }
+
+  // Y Size.
+  // Right side.
+  /*for (int i=3; i<6; i++) WRong
+   {
+   float l1 = sqrt(pow(x[i], 2) + pow(y[i], 2));
+   float o1 = degrees(atan(y[i] / x[i]));
+   float o2 = o2P - o1;  
+   Ny[i] = sin(radians(o2)) * l1;
+   Nx[i] = (cos(radians(o2)) * l1) - lx[i];
+   Nz[i] = z[i];
+   }
+   
+   // Left size;
+   for (int i=0; i<4; i++) WRong
+   {
+   float l1 = sqrt(pow(x[i], 2) + pow(y[i], 2));
+   float o1 = degrees(atan(y[i] / x[i]));
+   float o2 = o2N - o1;  
+   Ny[i] = sin(radians(o2)) * l1;
+   Nx[i] = (cos(radians(o2)) * l1) - lx[i];
+   Nz[i] = z[i];
+   }*/
+}
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