Rune Harlyk
93 lines
2.6 KiB
C
93 lines
2.6 KiB
C
#ifndef SERVO_CONFIG_H
|
|
#define SERVO_CONFIG_H
|
|
|
|
//#include "servo.h"
|
|
#include "spot_ik.h"
|
|
|
|
// RF - Right Front Leg
|
|
// lower leg
|
|
#define RF_LOWER_SERVO_CHANNEL 8
|
|
#define RF_LOWER_SERVO_CENTER 306
|
|
#define RF_LOWER_SERVO_RANGE 385
|
|
#define RF_LOWER_SERVO_DIRECTION 1
|
|
#define RF_LOWER_SERVO_CENTER_ANG_DEG 99.86f
|
|
// upper leg
|
|
#define RF_UPPER_SERVO_CHANNEL 7
|
|
#define RF_UPPER_SERVO_CENTER 306
|
|
#define RF_UPPER_SERVO_RANGE 407
|
|
#define RF_UPPER_SERVO_DIRECTION 1
|
|
#define RF_UPPER_SERVO_CENTER_ANG_DEG -31.62f
|
|
// shoulder joint
|
|
#define RF_HIP_SERVO_CHANNEL 6
|
|
#define RF_HIP_SERVO_CENTER 306
|
|
#define RF_HIP_SERVO_RANGE 396
|
|
#define RF_HIP_SERVO_DIRECTION -1
|
|
#define RF_HIP_SERVO_CENTER_ANG_DEG 1.67f
|
|
|
|
// RB - Right Back Leg
|
|
// lower leg
|
|
#define RB_LOWER_SERVO_CHANNEL 2
|
|
#define RB_LOWER_SERVO_CENTER 306
|
|
#define RB_LOWER_SERVO_RANGE 369
|
|
#define RB_LOWER_SERVO_DIRECTION 1
|
|
#define RB_LOWER_SERVO_CENTER_ANG_DEG 95.37f
|
|
// upper leg
|
|
#define RB_UPPER_SERVO_CHANNEL 1
|
|
#define RB_UPPER_SERVO_CENTER 306
|
|
#define RB_UPPER_SERVO_RANGE 381
|
|
#define RB_UPPER_SERVO_DIRECTION 1
|
|
#define RB_UPPER_SERVO_CENTER_ANG_DEG -37.21f
|
|
// shoulder joint
|
|
#define RB_HIP_SERVO_CHANNEL 0
|
|
#define RB_HIP_SERVO_CENTER 306
|
|
#define RB_HIP_SERVO_RANGE 403
|
|
#define RB_HIP_SERVO_DIRECTION 1
|
|
#define RB_HIP_SERVO_CENTER_ANG_DEG -3.27f
|
|
|
|
// LB - Left Back Leg
|
|
// lower leg
|
|
#define LB_LOWER_SERVO_CHANNEL 5
|
|
#define LB_LOWER_SERVO_CENTER 306
|
|
#define LB_LOWER_SERVO_RANGE 374
|
|
#define LB_LOWER_SERVO_DIRECTION 1
|
|
#define LB_LOWER_SERVO_CENTER_ANG_DEG -92.65f
|
|
// upper leg
|
|
#define LB_UPPER_SERVO_CHANNEL 4
|
|
#define LB_UPPER_SERVO_CENTER 306
|
|
#define LB_UPPER_SERVO_RANGE 403
|
|
#define LB_UPPER_SERVO_DIRECTION 1
|
|
#define LB_UPPER_SERVO_CENTER_ANG_DEG 91.23f
|
|
// shoulder joint
|
|
#define LB_HIP_SERVO_CHANNEL 3
|
|
#define LB_HIP_SERVO_CENTER 306
|
|
#define LB_HIP_SERVO_RANGE 367
|
|
#define LB_HIP_SERVO_DIRECTION -1
|
|
#define LB_HIP_SERVO_CENTER_ANG_DEG -7.20f
|
|
|
|
// Lf - Left fRONT Leg
|
|
// lower leg
|
|
#define LF_LOWER_SERVO_CHANNEL 11
|
|
#define LF_LOWER_SERVO_CENTER 306
|
|
#define LF_LOWER_SERVO_RANGE 385
|
|
#define LF_LOWER_SERVO_DIRECTION 1
|
|
#define LF_LOWER_SERVO_CENTER_ANG_DEG -87.43f
|
|
// upper leg
|
|
#define LF_UPPER_SERVO_CHANNEL 10
|
|
#define LF_UPPER_SERVO_CENTER 306
|
|
#define LF_UPPER_SERVO_RANGE 388
|
|
#define LF_UPPER_SERVO_DIRECTION 1
|
|
#define LF_UPPER_SERVO_CENTER_ANG_DEG 38.21f
|
|
// shoulder joint
|
|
#define LF_HIP_SERVO_CHANNEL 9
|
|
#define LF_HIP_SERVO_CENTER 306
|
|
#define LF_HIP_SERVO_RANGE 388
|
|
#define LF_HIP_SERVO_DIRECTION 1
|
|
#define LF_HIP_SERVO_CENTER_ANG_DEG 4.67f
|
|
|
|
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 |