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Wave Legs Added / Walking improoved

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Lars H 2017-11-21 15:27:49 +01:00
parent c3783acf0d
commit e8c7261adf
2 changed files with 26 additions and 26 deletions
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50
LARS.cpp
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@ -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;

2
LARS.h
View File

@ -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);