successfully make the robot crouch

dat/Limbs2.m

@@ -1,41 +1,41 @@
 %% 3D actuation of all joints %%
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-END  = 8;
+COUNT = 4;
-GAIN = 1;
+GAIN  = 1;
 
 GAIN_HIP   = GAIN;
 GAIN_KNEE  = GAIN;
 GAIN_ANKLE = GAIN;
 
 % setup timeline, query points
-t = 0 : 1 : END;
+t = 0 : 1 : COUNT - 1;
-q = 0 : 0.001: END;
+q = 0 : 0.001 : COUNT - 1;
 
 % vars starting with tr_ are "tracks", or arrays of unprocessed positions
 % over a period of time. The rotational position of a joint is measured
 % in radians. Each array corresponds to a degree of freedom. The length
-% of each array is to be equal to the value of END plus 1.
+% of each array is to be equal to the value of COUNT.
 
 %% TRACKS: Left Leg Joints X, Y, Z%%
-tr_LHipY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % positive: move foot back
+tr_LHipY = [0, -1.1, -1.1, -1.1]; % positive: move foot back
-tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move foot inward
+tr_LHipX = [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_LHipZ = [0, 0, 0, 0];       % pos: move knee left (c-clockw)
 
-tr_LKneeY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: bend knee normally
+tr_LKneeY = [0, 1.4, 1.4, 1.4]; % pos: bend knee normally
 
-tr_LAnkleY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: point toes down (pitch)
+tr_LAnkleY = [0, -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
+tr_LAnkleX = [0, 0, 0, 0]; % pos: right side of foot down
 
 %% TRACKS: Right Leg Joints X, Y, Z%%
-tr_RHipY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % positive: move leg back
+tr_RHipY = [0, -1.1, -1.1, -1.1]; % positive: move leg back
-tr_RHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in
+tr_RHipX = [0, 0, 0, 0];    % pos: mv foot in
-tr_RHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv c-clockw
+tr_RHipZ = [0, 0, 0, 0];    % pos: mv c-clockw
 
-tr_RKneeY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: bend knee
+tr_RKneeY = [0, 1.4, 1.4, 1.4]; % pos: bend knee
 
-tr_RAnkleY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: toes down
+tr_RAnkleY = [0, -0.6, -0.6, -0.6]; % pos: toes down
-tr_RAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side down
+tr_RAnkleX = [0, 0, 0, 0]; % pos: right side down
 
 %% The rest of this script does not need to be modified by hand.%%