im planning on adding some contact switches to the feet (tars).
Once i have built them and written the code i hope to be able to walk over anything. at the moment flat ground works best so these should help with terrain adaption.
We know and expect the obvious with using terrain adaption:
The chosen leg rises and falls in till it detects surface, then next leg is selected to rise.
My idea is to write the code so that the leg rises and then falls to the floor as normal but once it gets to the "Out_of_Reach" value (no surface detected) it will then rise again and replace its trajectory in another location in till it finds the floor. kinda like if you made it walk over a drain.
i think that might be quite interesting to watch. :wink: