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