File content as of revision 2:9448381519ed:

#include "mbed.h"
#include "AX12.h"

int main() {

    //Initiates all of the motors in the legs
    AX12 m1 (p9, p10, 1);
    AX12 m2 (p9, p10, 2);
    AX12 m3 (p9, p10, 3);
    AX12 m4 (p9, p10, 4);
    AX12 m5 (p9, p10, 5);
    AX12 m6 (p9, p10, 6);
    AX12 m7 (p9, p10, 7);
    AX12 m8 (p9, p10, 8);
    Serial pc(USBTX, USBRX);
    
    // Sets motors to initial positions, with waits in between to ensure positions are reached
    m3.SetGoal(150);
    pc.printf("\n\rMotor 3 Initiated");
    wait(1);
    m4.SetGoal(150);
    pc.printf("\n\rMotor 4 Initiated");
    wait(1);
    m1.SetGoal(150);
    pc.printf("\n\rMotor 1 Initiated");
    wait(1);
    m2.SetGoal(150);
    pc.printf("\n\rMotor 2 Initiated");
    wait(1);
    m5.SetGoal(150);
    pc.printf("\n\rMotor 5 Initiated");
    wait(1);
    m6.SetGoal(150);
    pc.printf("\n\rMotor 6 Initiated");
    wait(1);
    m7.SetGoal(150);
    pc.printf("\n\rMotor 7 Initiated");
    wait(1);
    m8.SetGoal(150);
    pc.printf("\n\rMotor 8 Initiated");
    wait(1);

    while (1) {
        
        // Begins loop by sending each joint to key locations at appropriate speeds
        
        //m4.SetCRSpeed(0.00489);
        //m3.SetCRSpeed(0.05381);
        //m2.SetCRSpeed(0.0349);
        //m1.SetCRSpeed(0.0083);
        m4.SetGoal(132);
        m3.SetGoal(136);
        m2.SetGoal(142.87);
        m1.SetGoal(151.7);
        pc.printf("\n\r1");
        wait(0.1);
        
        //m5.SetCRSpeed(0.0273);
        //m6.SetCRSpeed(0.086);
        //m7.SetCRSpeed(0.0671);
        //m8.SetCRSpeed(0.0189);
        m5.SetGoal(152);
        m6.SetGoal(208);
        m7.SetGoal(179);
        m8.SetGoal(143);
        pc.printf("\n\r2");
        wait(0.2);
        
        //m4.SetCRSpeed(0.01467);
        //m3.SetCRSpeed(0.02933);
        //m2.SetCRSpeed(0.0366);
        //m1.SetCRSpeed(0.0087);
        m4.SetGoal(136);
        m3.SetGoal(128);
        m2.SetGoal(152.85);
        m1.SetGoal(149.32);
        pc.printf("\n\r3");
        wait(0.4);
        
        //m4.SetCRSpeed(0.02569);
        //m3.SetCRSpeed(0.01834);
        //m2.SetCRSpeed(0.021);
        //m1.SetCRSpeed(0.005);
        m4.SetGoal(143);
        m3.SetGoal(133);
        m2.SetGoal(158.57);
        m1.SetGoal(147.96);
        pc.printf("\n\r4");
        wait(0.1);
        
        //m5.SetCRSpeed(0.0489);
        //m6.SetCRSpeed(0.0342);
        //m7.SetCRSpeed(0.0587);
        //m8.SetCRSpeed(0.0147);
        m5.SetGoal(162);
        m6.SetGoal(215);
        m7.SetGoal(167);
        m8.SetGoal(146);
        pc.printf("\n\r5");
        wait(0.3);
        
        //m4.SetCRSpeed(0.0212);
        //m3.SetCRSpeed(0.01467);
        //m2.SetCRSpeed(0.007);
        //m1.SetCRSpeed(0.0017);
        //m5.SetCRSpeed(0.022);
        //m6.SetCRSpeed(0.0587);
        //m7.SetCRSpeed(0.0416);
        //m8.SetCRSpeed(0.0098);
        m4.SetGoal(156);
        m3.SetGoal(142);
        m2.SetGoal(162.88);
        m1.SetGoal(146.94);
        m5.SetGoal(171);
        m6.SetGoal(191);
        m7.SetGoal(150);
        m8.SetGoal(150);
        pc.printf("\n\r6");
        wait(0.6);
        
        //m5.SetCRSpeed(0.0073);
        //m6.SetCRSpeed(0.1174);
        //m7.SetCRSpeed(0);
        //m8.SetCRSpeed(0);
        m5.SetGoal(172);
        m6.SetGoal(175);
        m7.SetGoal(150);
        m8.SetGoal(150);
        pc.printf("\n\r7");
        wait(0.2);
        
        //m5.SetCRSpeed(0.0073);
        //m6.SetCRSpeed(0.0881);
        //m7.SetCRSpeed(0.0037);
        //m8.SetCRSpeed(0);
        m5.SetGoal(170);
        m6.SetGoal(151);
        m7.SetGoal(149);
        m8.SetGoal(150);
        pc.printf("\n\r8");
        wait(0.1);
        
        //m4.SetCRSpeed(0.01467);
        //m3.SetCRSpeed(0.00734);
        //m2.SetCRSpeed(0.0106);
        //m1.SetCRSpeed(0.0025);
        m4.SetGoal(158);
        m3.SetGoal(141);
        m2.SetGoal(164.33);
        m1.SetGoal(146.6);
        pc.printf("\n\r9");
        wait(0.2);
        
        //m4.SetCRSpeed(0.011);
        //m3.SetCRSpeed(0.02935);
        //m2.SetCRSpeed(0.0264);
        //m1.SetCRSpeed(0.0062);
        m4.SetGoal(161);
        m3.SetGoal(133);
        m2.SetGoal(157.14);
        m1.SetGoal(148.3);
        pc.printf("\n\r10");
        wait(0.1);
        
        //m5.SetCRSpeed(0.0073);
        //m6.SetCRSpeed(0.0147);
        //m7.SetCRSpeed(0.0073);
        //m8.SetCRSpeed(0);
        m5.SetGoal(169);
        m6.SetGoal(153);
        m7.SetGoal(150);
        m8.SetGoal(150);
        pc.printf("\n\r11");
        wait(0.2);
        
        //m5.SetCRSpeed(0.0049);
        //m6.SetCRSpeed(0.0538);
        //m7.SetCRSpeed(0.0342);
        //m8.SetCRSpeed(0.0098);
        m5.SetGoal(168);
        m6.SetGoal(164);
        m7.SetGoal(157);
        m8.SetGoal(148);
        pc.printf("\n\r12");
        wait(0.1);
        
        //m4.SetCRSpeed(0.02726);
        //m3.SetCRSpeed(0.08597);
        //m2.SetCRSpeed(0.0761);
        //m1.SetCRSpeed(0.0178);
        m4.SetGoal(148);
        m3.SetGoal(92);
        m2.SetGoal(120.83);
        m1.SetGoal(156.8);
        pc.printf("\n\r13");
        wait(0.2);
        
        //m5.SetCRSpeed(0.022);
        //m6.SetCRSpeed(0.0294);
        //m7.SetCRSpeed(0.0367);
        //m8.SetCRSpeed(0.011);
        m5.SetGoal(174);
        m6.SetGoal(172);
        m7.SetGoal(147);
        m8.SetGoal(151);
        pc.printf("\n\r14");
        wait(0.4);
        
        //m5.SetCRSpeed(0.0624);
        //m6.SetCRSpeed(0.0183);
        //m7.SetCRSpeed(0.022);
        //m8.SetCRSpeed(0.0037);
        m5.SetGoal(157);
        m6.SetGoal(167);
        m7.SetGoal(141);
        m8.SetGoal(152);
        pc.printf("\n\r15");
        wait(0.1);
        
        //m4.SetCRSpeed(0.04892);
        //m3.SetCRSpeed(0.03424);
        //m2.SetCRSpeed(0.0584);
        //m1.SetCRSpeed(0.0133);
        m4.SetGoal(138);
        m3.SetGoal(85);
        m2.SetGoal(132.77);
        m1.SetGoal(154.08);
        pc.printf("\n\r16");
        wait(0.3);
        
        //m4.SetCRSpeed(0.02202);
        //m3.SetCRSpeed(0.0587);
        //m2.SetCRSpeed(0.0421);
        //m1.SetCRSpeed(0.01);
        //m5.SetCRSpeed(0.0212);
        //m6.SetCRSpeed(0.0147);
        //m7.SetCRSpeed(0.0065);
        //m8.SetCRSpeed(0.0016);
        m4.SetGoal(129);
        m3.SetGoal(109);
        m2.SetGoal(150);
        m1.SetGoal(150);
        m5.SetGoal(144);
        m6.SetGoal(158);
        m7.SetGoal(137);
        m8.SetGoal(153);
        pc.printf("\n\r17");
        wait(0.6);
        
        //m4.SetCRSpeed(0.0073);
        //m3.SetCRSpeed(0.11742);
        //m2.SetCRSpeed(0);
        //m1.SetCRSpeed(0);
        m4.SetGoal(128);
        m3.SetGoal(125);
        m2.SetGoal(150);
        m1.SetGoal(150);
        pc.printf("\n\r18");
        wait(0.2);
        
        //m4.SetCRSpeed(0.0073);
        //m3.SetCRSpeed(0.0886);
        //m2.SetCRSpeed(0.0052);
        //m1.SetCRSpeed(0.0012);
        m4.SetGoal(130);
        m3.SetGoal(149);
        m2.SetGoal(151.43);
        m1.SetGoal(149.66);
        pc.printf("\n\r19");
        wait(0.1);
        
        //m5.SetCRSpeed(0.0147);
        //m6.SetCRSpeed(0.0073);
        //m7.SetCRSpeed(0.0073);
        //m8.SetCRSpeed(0.0);
        m5.SetGoal(142);
        m6.SetGoal(159);
        m7.SetGoal(136);
        m8.SetGoal(153);
        pc.printf("\n\r20");
        wait(0.2);
        
        //m5.SetCRSpeed(0.011);
        //m6.SetCRSpeed(0.0294);
        //m7.SetCRSpeed(0.0257);
        //m8.SetCRSpeed(0.0037);
        m5.SetGoal(139);
        m6.SetGoal(167);
        m7.SetGoal(143);
        m8.SetGoal(152);
        pc.printf("\n\r21");
        wait(0.1);
        
        //m4.SetCRSpeed(0.0073);
        //m3.SetCRSpeed(0.01467);
        //m2.SetCRSpeed(0.0105);
        //m1.SetCRSpeed(0.0025);
        m4.SetGoal(131);
        m3.SetGoal(147);
        m2.SetGoal(150);
        m1.SetGoal(150);
        pc.printf("\n\r22");
        wait(0.2);
        
    }
}