Martin Smith / Mbed 2 deprecated ERIC_Walking_4_Legs

E.R.I.C.'s first attempt to walk

Dependencies:   mbed AX12_Hardware

FK.h@0:8a7c1e92d067, 2011-10-16 (annotated)

Committer:
ms523
Date:
Sun Oct 16 16:01:08 2011 +0000
Revision:
0:8a7c1e92d067

        

        
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#include "mbed.h"





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#include "AX12.h"





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#define B 45                // Offset dimension





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#define FEMUR 80            // Femur length





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#define TIBIA 140           // Tibia length





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#define ULNA 90             // Ulna length





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#define RADIUS 120          // Radius length





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#define X_OFFSET 25         // Distance from the X-axis -> servo centre





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#define PI 3.14159





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#define HIND 0





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#define FORE 1





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/********** Global structures **********/





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struct Joint_Angles {





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    float lateral;





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    float hip;





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    float knee;





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};





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/**************************************************************************





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Global variables





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**************************************************************************/





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extern AX12 Fore_Right_Hip_Lateral,





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            Fore_Right_Hip,





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            Fore_Right_Knee,





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            Fore_Left_Hip_Lateral,





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            Fore_Left_Hip,





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            Fore_Left_Knee,





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            Hind_Right_Hip_Lateral,





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            Hind_Right_Hip,





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            Hind_Right_Knee,





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            Hind_Left_Hip_Lateral,





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            Hind_Left_Hip,





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            Hind_Left_Knee;





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/********** Functions **********/





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void FK_Engine(float*);





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void Set_Pose(const int*, float);





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Joint_Angles IK_Engine(int, int, int, char);





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void Step_Forward(int);





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/************ Define Poses ************/





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extern const int Stand[];





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extern const int Sit1[];





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extern const int Sit2[];





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extern const int Sit3[];





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extern const int Sit4[];