Merge branch 'lars' of ssh://git.lbsfilm.at:10022/lbsadmin/LARS
This commit is contained in:
commit
b5ac2d6875
50
src/LARS.cpp
50
src/LARS.cpp
@ -17,14 +17,14 @@
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LARS::LARS(): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
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board_pins[FRONT_RIGHT_HIP] = 26; // front left inner
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board_pins[FRONT_LEFT_HIP] = 25; // front right inner
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board_pins[BACK_RIGHT_HIP] = 17; // back left inner
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board_pins[BACK_LEFT_HIP] = 16; // back right inner
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board_pins[FRONT_RIGHT_LEG] = 27; // front left outer
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board_pins[FRONT_LEFT_LEG] = 14; // front right outer // 15, 14, 12 free for Lukas
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board_pins[BACK_RIGHT_LEG] = 12; // back left outer
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board_pins[BACK_LEFT_LEG] = 13; // back right outer
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board_pins[FRONT_RIGHT_HIP] = 26; // front right inner
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board_pins[FRONT_LEFT_HIP] = 25; // front left inner
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board_pins[BACK_RIGHT_HIP] = 17; // back right inner
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board_pins[BACK_LEFT_HIP] = 16; // back left inner
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board_pins[FRONT_RIGHT_LEG] = 27; // front right outer
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board_pins[FRONT_LEFT_LEG] = 5; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
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board_pins[BACK_RIGHT_LEG] = 23; // back right outer
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board_pins[BACK_LEFT_LEG] = 13; // back left outer
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}
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void LARS::init() {
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@ -152,12 +152,12 @@ void LARS::moonwalk(float steps, float T = 5000) {
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void LARS::walk(int dir, float steps, float T) {
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int x_amp = 15;
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int x_amp = 30;//15;
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int x_amp_test = 50;
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int z_amp = 20;
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int z_amp_test = 50;
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int ap = 20;
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int hi = 23;
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int hi = 0; //23;
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//int hi = -10;
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//int front_x = 12; // inner back, inner back , outer back, outer back, inner front , inner front, outer front , outer front
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int front_x = 0;
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@ -165,12 +165,12 @@ void LARS::walk(int dir, float steps, float T) {
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int amplitude[] = {x_amp, x_amp, z_amp_test, z_amp_test, x_amp, x_amp, z_amp_test, z_amp_test};
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int offset[] = { 90 + ap - front_x,
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90 - ap + front_x,
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90 - hi ,
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90 + hi,
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90 - hi +30,
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90 + hi -30,
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90 - ap - front_x,
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90 + ap + front_x,
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90 + hi,
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90 - hi
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90 + hi -30,
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90 - hi +30
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/* 90,
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90,
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90,
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@ -182,7 +182,7 @@ void LARS::walk(int dir, float steps, float T) {
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};
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//int phase[] = {90, 90, 270, 90, 270, 270, 90, 270};
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int phase[] = {270, 270, 270, 90, 90, 90, 90, 270};
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if (dir == 0) { //backward
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if (dir == 0) { //forward
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phase[0] = phase[1] = 90;
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phase[4] = phase[5] = 270;
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}
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@ -300,10 +300,10 @@ void LARS::wave(int legNumber){
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case 2 : {
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amplitude[0] = 60;
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int offset[] = {
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90-60 , 90-20,
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90+70 , 90 ,
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90 , 90+90 ,
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90+140 , 90
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90-20 , 90+20,
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90-70 , 90 ,
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90-60 , 90+90 ,
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90 , 90 -70
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};
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memcpy ( &offsetLeg, &offset, sizeof(offset) );
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break;
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@ -311,21 +311,21 @@ void LARS::wave(int legNumber){
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case 3 : {
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amplitude[4] = 60;
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int offset[] = {
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90-20 , 90-60,
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90+40 , 90-60,
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90 , 90+70 ,
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90 , 90+90 ,
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90 , 90+0 ,
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90+140 , 90
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};
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memcpy ( &offsetLeg, &offset, sizeof(offset) );
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break;
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}
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case 4 : {
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amplitude[5]= 60;
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amplitude[5]= 90;
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int offset[] = {
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90-20 , 90-60,
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90 , 90+70 ,
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90 , 90+90 ,
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90+140 , 90
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90-70 , 90 ,
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90+20 , 90+90 ,
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90 , 90-70
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};
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memcpy ( &offsetLeg, &offset, sizeof(offset) );
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break;
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@ -20,7 +20,7 @@ class LARS {
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public:
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LARS();
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void init();
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void walk(int dir = 1, float steps = 1, float T = 400);
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void walk(int dir = 1, float steps = 1, float T = 800); // T initial 400
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void omniWalk(float steps, float T, bool side, float turn_factor);
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void turnL(float steps, float period);
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void turnR(float steps, float period);
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