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Motions.ino
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void Kick_Left(double Speed)
{
//-----------------L0---------------------
Angle[Left_Arm_Pitch]=0*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=0*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=0;
L_Z=Z_offset-30;
L_Roll=0;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-30;
R_Roll=0;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------L1---------------------
Angle[Left_Arm_Pitch]=15*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=15*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=0;
L_Z=Z_offset-30;
L_Roll=0.175;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-30;
R_Roll=0.175;//
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(700);
//-----------------L2---------------------
Angle[Left_Arm_Pitch]=30*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=30*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=0;
L_Z=Z_offset+20;
L_Roll=0.175;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-30;
R_Roll=0.175;//
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(700);
//------------------L3-------------------- (Left Leg Back)
Angle[Left_Arm_Pitch]=30*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=30*DEG2RAD; // posetive is for go forward
L_X=-180; // negativie is for leg back
L_Y=50; // positive is for leg open
L_Z=Z_offset+70;
L_Roll=0.05; // positive is for interior side up
L_Pitch=0.2; // positive is for front side of foot up
L_Yaw=0;
R_X=0;
R_Y=0; // negative is for leg open
R_Z=Z_offset-30;
R_Roll=0.175;
R_Pitch=-0.01;//-0.04; // negative is for front side of foot up
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(2000);
//-----------------L4--------------------- (Kick)
Angle[Left_Arm_Pitch]=-20*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=-20*DEG2RAD; // posetive is for go forward
L_X=220;
L_Y=60;
L_Z=Z_offset+70;
L_Roll=0.05;
L_Pitch=-0.4;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-30;
R_Roll=0.175;
R_Pitch=0.08;//0.05;
R_Yaw=0;
ik(0.6); //call inverse kinematic for
delay(2100);
//-----------------L5---------------------(2)
Angle[Left_Arm_Pitch]=0*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=0*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=59;
L_Z=Z_offset+20;
L_Roll=0.05;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-30;
R_Roll=0.175;//
R_Pitch=0.05;//0.03;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------L6---------------------(1)
Angle[Left_Arm_Pitch]=0*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=0*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=40;
L_Z=Z_offset-30;
L_Roll=0.175;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-30;
R_Roll=0.175;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------L7---------------------(0)
L_X=0;
L_Y=30;
L_Z=Z_offset-30;
L_Roll=0;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-30;
R_Roll=0;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------L8---------------------(Normal mode)
L_X=0;
L_Y=0;
L_Z=Z_offset;
L_Roll=0;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=-0;
R_Z=Z_offset;
R_Roll=0;
R_Pitch=0;
R_Yaw=0;
ik(0.04); //call inverse kinematic for
vTaskDelay(1000);
}
//********************************************************************************************************************************
//********************************************************************************************************************************
//********************************************************************************************************************************
void Kick_Right(double Speed)
{
//-----------------R0---------------------
Angle[Left_Arm_Pitch]=0*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=0*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=0;
L_Z=Z_offset-30;
L_Roll=0;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-30;
R_Roll=0;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------R1---------------------
L_X=0;
L_Y=0;
L_Z=Z_offset-30;
L_Roll=-0.168;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset-35;
R_Roll=-0.25;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------R2---------------------
Angle[Left_Arm_Pitch]=30*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=30*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=0;
L_Z=Z_offset-30;
L_Roll=-0.168;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=0;
R_Z=Z_offset+20;
R_Roll=0.05;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//------------------R3-------------------- (Left Leg Back)
Angle[Left_Arm_Pitch]=30*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=30*DEG2RAD; // posetive is for go forward
L_X=0; // negativie is for leg back
L_Y=0; // positive is for leg open
L_Z=Z_offset-30;
L_Roll=-0.168; // positive is for interior side up
L_Pitch=-0.0; // positive is for front side of foot down
L_Yaw=0;
R_X=-180;
R_Y=60; // positive is for leg open
R_Z=Z_offset+70;
R_Roll=0.05;
R_Pitch=0.2; // negative is for front side of foot up
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1500);
//-----------------R4--------------------- (Kick)
Angle[Left_Arm_Pitch]=-20*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=-20*DEG2RAD; // posetive is for go forward
L_X=0; // negativie is for leg back
L_Y=0; // positive is for leg open
L_Z=Z_offset-30;
L_Roll=-0.168; // positive is for interior side up
L_Pitch=0.07; // positive is for front side of foot down
L_Yaw=0;
R_X=220;
R_Y=60;
R_Z=Z_offset+70;
R_Roll=0.05;
R_Pitch=-0.4;
R_Yaw=0;
ik(0.6); //call inverse kinematic for
delay(2100);
//-----------------R5---------------------(2)
Angle[Left_Arm_Pitch]=0*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=0*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=0;
L_Z=Z_offset-30;
L_Roll=-0.168;
L_Pitch=0.05;
L_Yaw=0;
R_X=0;
R_Y=59;
R_Z=Z_offset+30;
R_Roll=0.05;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------R6---------------------(1)
Angle[Left_Arm_Pitch]=0*DEG2RAD; // negative is for go forward
Angle[Right_Arm_Pitch]=0*DEG2RAD; // posetive is for go forward
L_X=0;
L_Y=0;
L_Z=Z_offset-30;
L_Roll=-0.168;
L_Pitch=0.01;
L_Yaw=0;
R_X=0;
R_Y=40;
R_Z=Z_offset-25;
R_Roll=-0.195;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------R7---------------------(0)
L_X=0;
L_Y=0;
L_Z=Z_offset-30;
L_Roll=0;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=25;
R_Z=Z_offset-30;
R_Roll=0;
R_Pitch=0;
R_Yaw=0;
ik(Speed); //call inverse kinematic for
delay(1000);
//-----------------R8---------------------(Normal mode)
L_X=0;
L_Y=0;
L_Z=Z_offset;
L_Roll=0;
L_Pitch=0;
L_Yaw=0;
R_X=0;
R_Y=-0;
R_Z=Z_offset;
R_Roll=0;
R_Pitch=0;
R_Yaw=0;
ik(0.04); //call inverse kinematic for
vTaskDelay(1000);
}
//**************************************************************************************
//********************************************************************************************************************************
//********************************************************************************************************************************
//********************************************************************************************************************************