From 0fa0e65c0d3c92aaa492f209689de0b416101c6a Mon Sep 17 00:00:00 2001
From: "jazz (gitea)" <jazz@airmail.cc>
Date: Sun, 26 Jul 2026 23:53:53 -0500
Subject: [PATCH] knee bend failed attempt 1

---
 dat/Limbs2.m | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/dat/Limbs2.m b/dat/Limbs2.m
index 369b71f..0b620ea 100644
--- a/dat/Limbs2.m
+++ b/dat/Limbs2.m
@@ -1,7 +1,7 @@
 %% 3D actuation of all joints %%
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-END  = 4;
+END  = 8;
 GAIN = 1;
 
 GAIN_HIP   = GAIN;
@@ -18,24 +18,24 @@ q = 0 : 0.001: END;
 % of each array is to be equal to the value of END plus 1.
 
 % TRACKS: Left Leg Joints X, Y, Z
-tr_LHipY = [0, 0, 0, 0, 0]; % positive: move foot back
-tr_LHipX = [0, 0, 0, 0, 0]; % pos: move foot inward
-tr_LHipZ = [0, 0, 0, 0, 0]; % pos: move knee left (c-clockw)
+tr_LHipY = [0, -0.7, -1, -1.5, -2, -3, -3, -3, -3]; % positive: move foot back
+tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move foot inward
+tr_LHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move knee left (c-clockw)
 
-tr_LKneeY = [0, 0, 0, 0, 0]; % pos: bend knee normally
+tr_LKneeY = [0, 0.7, 1, 1.5, 2, 2, 2, 2, 2]; % pos: bend knee normally
 
-tr_LAnkleY = [0, 0, 0, 0, 0]; % pos: point toes down (pitch)
-tr_LAnkleX = [0, 0, 0, 0, 0]; % pos: right side of foot down
+tr_LAnkleY = [0, -0.4, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6]; % pos: point toes down (pitch)
+tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side of foot down
 
 % TRACKS: Right Leg Joints X, Y, Z
-tr_RHipY = [0, 0, 0, 0, 0]; % positive: move leg back
-tr_RHipX = [0, 0, 0, 0, 0]; % pos: mv foot in
-tr_RHipZ = [0, 0, 0, 0, 0]; % pos: mv c-clockw
+tr_RHipY = [0, -0.7, -1, -1.5, -2, -3, -3, -3, -3]; % positive: move leg back
+tr_RHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in
+tr_RHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv c-clockw
 
-tr_RKneeY = [0, 0, 0, 0, 0]; % pos: bend knee
+tr_RKneeY = [0, 0.7, 1, 1.5, 2, 2, 2, 2, 2]; % pos: bend knee
 
-tr_RAnkleY = [0, 0, 0, 0, 0]; % pos: toes down
-tr_RAnkleX = [0, 0, 0, 0, 0]; % pos: right side down
+tr_RAnkleY = [0, -0.4, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6]; % pos: toes down
+tr_RAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side down
 
 % interp's, left leg
 it_LHipY = interp1(t, tr_LHipY, q, 'spline')';