From e8c7261adf404be214ddaca16cdf37187488c8a2 Mon Sep 17 00:00:00 2001 From: Lars H Date: Tue, 21 Nov 2017 15:27:49 +0100 Subject: [PATCH 1/2] Wave Legs Added / Walking improoved --- LARS.cpp | 50 +++++++++++++++++++++++++------------------------- LARS.h | 2 +- 2 files changed, 26 insertions(+), 26 deletions(-) diff --git a/LARS.cpp b/LARS.cpp index d3ca42a..4c1089f 100644 --- a/LARS.cpp +++ b/LARS.cpp @@ -17,14 +17,14 @@ LARS::LARS(): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} { - board_pins[FRONT_RIGHT_HIP] = 26; // front left inner - board_pins[FRONT_LEFT_HIP] = 25; // front right inner - board_pins[BACK_RIGHT_HIP] = 17; // back left inner - board_pins[BACK_LEFT_HIP] = 16; // back right inner - board_pins[FRONT_RIGHT_LEG] = 27; // front left outer - board_pins[FRONT_LEFT_LEG] = 14; // front right outer // 15, 14, 12 free for Lukas - board_pins[BACK_RIGHT_LEG] = 12; // back left outer - board_pins[BACK_LEFT_LEG] = 13; // back right outer + board_pins[FRONT_RIGHT_HIP] = 26; // front right inner + board_pins[FRONT_LEFT_HIP] = 25; // front left inner + board_pins[BACK_RIGHT_HIP] = 17; // back right inner + board_pins[BACK_LEFT_HIP] = 16; // back left inner + board_pins[FRONT_RIGHT_LEG] = 27; // front right outer + board_pins[FRONT_LEFT_LEG] = 14; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!! + board_pins[BACK_RIGHT_LEG] = 12; // back right outer + board_pins[BACK_LEFT_LEG] = 13; // back left outer } void LARS::init() { @@ -152,12 +152,12 @@ void LARS::moonwalkL(float steps, float T = 5000) { void LARS::walk(int dir, float steps, float T) { - int x_amp = 15; + int x_amp = 30;//15; int x_amp_test = 50; int z_amp = 20; int z_amp_test = 50; int ap = 20; - int hi = 23; + int hi = 0; //23; //int hi = -10; //int front_x = 12; // inner back, inner back , outer back, outer back, inner front , inner front, outer front , outer front int front_x = 0; @@ -165,12 +165,12 @@ void LARS::walk(int dir, float steps, float T) { int amplitude[] = {x_amp, x_amp, z_amp_test, z_amp_test, x_amp, x_amp, z_amp_test, z_amp_test}; int offset[] = { 90 + ap - front_x, 90 - ap + front_x, - 90 - hi , - 90 + hi, + 90 - hi +30, + 90 + hi -30, 90 - ap - front_x, 90 + ap + front_x, - 90 + hi, - 90 - hi + 90 + hi -30, + 90 - hi +30 /* 90, 90, 90, @@ -182,7 +182,7 @@ void LARS::walk(int dir, float steps, float T) { }; //int phase[] = {90, 90, 270, 90, 270, 270, 90, 270}; int phase[] = {270, 270, 270, 90, 90, 90, 90, 270}; - if (dir == 0) { //backward + if (dir == 0) { //forward phase[0] = phase[1] = 90; phase[4] = phase[5] = 270; } @@ -300,10 +300,10 @@ void LARS::wave(int legNumber){ case 2 : { amplitude[0] = 60; int offset[] = { - 90-60 , 90-20, - 90+70 , 90 , - 90 , 90+90 , - 90+140 , 90 + 90-20 , 90+20, + 90-70 , 90 , + 90-60 , 90+90 , + 90 , 90 -70 }; memcpy ( &offsetLeg, &offset, sizeof(offset) ); break; @@ -311,21 +311,21 @@ void LARS::wave(int legNumber){ case 3 : { amplitude[4] = 60; int offset[] = { - 90-20 , 90-60, + 90+40 , 90-60, 90 , 90+70 , - 90 , 90+90 , + 90 , 90+0 , 90+140 , 90 }; memcpy ( &offsetLeg, &offset, sizeof(offset) ); break; } case 4 : { - amplitude[5]= 60; + amplitude[5]= 90; int offset[] = { 90-20 , 90-60, - 90 , 90+70 , - 90 , 90+90 , - 90+140 , 90 + 90-70 , 90 , + 90+20 , 90+90 , + 90 , 90-70 }; memcpy ( &offsetLeg, &offset, sizeof(offset) ); break; diff --git a/LARS.h b/LARS.h index 100ee39..a6e20fe 100644 --- a/LARS.h +++ b/LARS.h @@ -20,7 +20,7 @@ class LARS { public: LARS(); void init(); - void walk(int dir = 1, float steps = 1, float T = 400); + void walk(int dir = 1, float steps = 1, float T = 800); // T initial 400 void omniWalk(float steps, float T, bool side, float turn_factor); void turnL(float steps, float period); void turnR(float steps, float period); From c90bf8499fe7a09432999b84dc640f27f80aed8f Mon Sep 17 00:00:00 2001 From: Lars H Date: Tue, 21 Nov 2017 15:55:16 +0100 Subject: [PATCH 2/2] Servo Pin Update --- LARS.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/LARS.cpp b/LARS.cpp index 4c1089f..68eae9e 100644 --- a/LARS.cpp +++ b/LARS.cpp @@ -22,8 +22,8 @@ LARS::LARS(): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} { board_pins[BACK_RIGHT_HIP] = 17; // back right inner board_pins[BACK_LEFT_HIP] = 16; // back left inner board_pins[FRONT_RIGHT_LEG] = 27; // front right outer - board_pins[FRONT_LEFT_LEG] = 14; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!! - board_pins[BACK_RIGHT_LEG] = 12; // back right outer + board_pins[FRONT_LEFT_LEG] = 5; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!! + board_pins[BACK_RIGHT_LEG] = 23; // back right outer board_pins[BACK_LEFT_LEG] = 13; // back left outer }