/**************************************************************************** * * Copyright (c) 2008 www.societyofrobots.com * (please link back if you use this code!) * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License version 2 as * published by the Free Software Foundation. * * Alternatively, this software may be distributed under the terms of BSD * license. * ****************************************************************************/ //This file stores walking gaits //initialize variables //these variables store only current servo location long signed int head; //long signed int head_tilt; long signed int left_foot; long signed int left_ankle; long signed int left_knee; long signed int left_thigh; long signed int left_hip; long signed int left_collar; long signed int left_shoulder; long signed int left_elbow; long signed int right_foot; long signed int right_ankle; long signed int right_knee; long signed int right_thigh; long signed int right_hip; long signed int right_collar; long signed int right_shoulder; long signed int right_elbow; //initialize home variables //tweak these numbers until biped stands up strait long signed int home_head=550; // //long signed int home_head_tilt=550; long signed int home_left_foot=710; //set long signed int home_left_ankle=810; //set long signed int home_left_knee=610; // long signed int home_left_thigh=870; // long signed int home_left_hip=740; // long signed int home_left_collar=550; // long signed int home_left_shoulder=550; // long signed int home_left_elbow=550; // long signed int home_right_foot=720; //set long signed int home_right_ankle=650; // long signed int home_right_knee=800; // long signed int home_right_thigh=560; // long signed int home_right_hip=570; // long signed int home_right_collar=550; // long signed int home_right_shoulder=550; // long signed int home_right_elbow=550; // //define walking forward gait int forward_count=7;//number of positions in the forward gait array long signed int forward_head[7]= {100,150,200,150,100,0,-100}; //long signed int forward_head_tilt[7]= {100,150,200,150,100,0,-100}; long signed int forward_left_foot[7]= {100,150,200,150,100,0,-100}; long signed int forward_left_ankle[7]= {100,150,200,150,100,0,-100}; long signed int forward_left_knee[7]= {100,150,200,150,100,0,-100}; long signed int forward_left_thigh[7]= {100,150,200,150,100,0,-100}; long signed int forward_left_hip[7]= {100,150,200,150,100,0,-100}; long signed int forward_left_collar[7]= {100,150,200,150,100,0,-100}; long signed int forward_left_shoulder[7]= {100,150,200,150,100,0,-100}; long signed int forward_left_elbow[7]= {100,150,200,150,100,0,-100}; long signed int forward_right_foot[7]= {100,150,200,150,100,0,-100}; long signed int forward_right_ankle[7]= {100,150,200,150,100,0,-100}; long signed int forward_right_knee[7]= {100,150,200,150,100,0,-100}; long signed int forward_right_thigh[7]= {100,150,200,150,100,0,-100}; long signed int forward_right_hip[7]= {100,150,200,150,100,0,-100}; long signed int forward_right_collar[7]= {100,150,200,150,100,0,-100}; long signed int forward_right_shoulder[7]= {100,150,200,150,100,0,-100}; long signed int forward_right_elbow[7]= {100,150,200,150,100,0,-100}; //various common initialized variables int i; int j; float per_a; float per_b; int next; //this function calculates gait meshing void calculate_per(int speed) { //mesh current gait position with future gait position per_a=(speed-j)/speed; per_b=1-per_a; //make sure future gait position isn't outside array if(i!=forward_count-1) next=i+1; else //if it is, then restart back at zero next=0; } //command biped to do stuff void biped_move(void) { head(head+home_head); //head_tilt(head_tilt+home_head_tilt); left_foot(left_foot+home_left_foot); left_ankle(left_ankle+home_left_ankle); left_knee(left_knee+home_left_knee); left_thigh(left_thigh+home_left_thigh); left_hip(left_hip+home_left_hip); left_collar(left_collar+home_left_collar); left_shoulder(left_shoulder+home_left_shoulder); left_elbow(left_elbow+home_left_elbow); right_foot(right_foot+home_right_foot); right_ankle(right_ankle+home_right_ankle); right_knee(right_knee+home_right_knee); right_thigh(right_thigh+home_right_thigh); right_hip(right_hip+home_right_hip); right_collar(right_collar+home_right_collar); right_shoulder(right_shoulder+home_right_shoulder); right_elbow(right_elbow+home_right_elbow); } //home position //all positions are zeroed onto home position void home_position(void) { head=0; //head_tilt=0; left_foot=0; left_ankle=0; left_knee=0; left_thigh=0; left_hip=0; left_collar=0; left_shoulder=0; left_elbow=0; right_foot=0; right_ankle=0; right_knee=0; right_thigh=0; right_hip=0; right_collar=0; right_shoulder=0; right_elbow=0; biped_move(); } //walking forward gait //higher speed makes robot walk slower void walk_forward(int speed) { for (i=0;i