💯 Adds initial IK and servo functionality

include/IK_config.h

@@ -0,0 +1,42 @@
+#ifndef IK_CONFIG_H
+#define IK_CONFIG_H
+
+#include <Arduino.h>
+
+// SERVOS
+#define Servo_Foot     0
+#define Servo_Leg      1
+#define Servo_Shoulder 2
+
+#define LEG_LF  0 // 0, 1, 2
+#define LEG_RF  1 // 3, 4, 5
+#define LEG_LB  2 // 6, 7, 8
+#define LEG_RB  3 // 9, 10, 11
+
+#define L1  60.5  // y Distance between Shoulder Servo and Leg
+#define L2  10    // z Distance between Shoulder Servo and Leg
+#define L3  100.7 // Length of upper leg
+#define L4  118.5 // Length of lower leg
+#define L   207.5 // Distance between front and back servos
+#define W   78    // Distance between left and right shoulder
+
+// predefined calculations
+#define L1L1  3660.25  //L1*L1
+// #define L1L2  3760.25  //L1*L1+L2*L2
+// #define LL12  1210     //2*L1*L2
+#define L3L3  10140.49 //L3*L3
+#define L4L4  14042.25 //L4*L4
+#define LL34  23865.9  //2*L3*L4
+
+#define SERVO_STEP_ANGLE 2
+#define MOTION_STEP_ANGLE 5
+#define MOTION_STEP_MOVEMENT 5
+#define MOTION_STEP_ALFA 0.20
+
+extern const int16_t servo_min[12] ;
+extern const float servo_conversion[12] ;
+extern const float theta_range[3][2];
+extern const int8_t servo_invert[12];
+extern int16_t servo_angles[4][3];
+
+#endif