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🎨 Adds kinematics config to readme

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Rune Harlyk
2025-10-10 22:23:51 +02:00
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readme.md
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@@ -174,6 +174,28 @@ A smaller and more affordable variant currently under development. Leika Mini ai
<img src="images/leika_mini.jpg" alt="Leika mini" width="500">
### Kinematics Configuration
| Parameter | Leika (Standard) | Leika Mini | Yertle |
| --------------------- | ---------------- | ----------- | ------------- |
| **Coxa Length** | 60.5mm | 35.0mm | 35.0mm |
| **Coxa Offset** | 10.0mm | 0.0mm | 0.0mm |
| **Femur Length** | 111.2mm | 60.0mm | 130.0mm |
| **Tibia Length** | 118.5mm | 60.0mm | 130.0mm |
| **Body Length (L)** | 207.5mm | 160.0mm | 240.0mm |
| **Body Width (W)** | 78.0mm | 80.0mm | 78.0mm |
| **Max Leg Reach** | 219.7mm | 95.0mm | 255.0mm |
| **Body Height Range** | 98.9-197.7mm | 42.8-85.5mm | 114.8-229.5mm |
**Motion Limits:**
- Maximum roll/pitch: ±15°
- Maximum body shift: W/3 in X and Z directions
- Maximum step length: 80% of leg reach
- Maximum step height: 50% of leg reach
The kinematics system automatically adapts to the selected hardware variant through compile-time configuration flags (`SPOTMICRO_ESP32`, `SPOTMICRO_ESP32_MINI`, `SPOTMICRO_YERTLE`).
## Hardware & Electronics
### Mechanical Components