From 83831522c6c56f62254ce6b4784cf47f1eb04afa Mon Sep 17 00:00:00 2001 From: "jazz (gitea)" Date: Sun, 2 Aug 2026 23:26:20 -0500 Subject: [PATCH] progress on W1 --- dat/W1.m | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/dat/W1.m b/dat/W1.m index b38f28e..78e7d11 100644 --- a/dat/W1.m +++ b/dat/W1.m @@ -2,7 +2,7 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% COUNT = 16; -GAIN = 1; +GAIN = 2; GAIN_HIP = GAIN; GAIN_KNEE = GAIN; @@ -19,23 +19,24 @@ q = 0 : 1: COUNT - 1; % set precision. e.g. q = 0 : 0.001 : COUNT-1; for 1e-3 pr % of each array is to be equal to the value of COUNT. %% TRACKS: Left Leg Joints X, Y, Z%% -tr_LHipY = [0, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.3 * pi, -0.4 * pi, -0.4 * pi, -0.6 * pi, -0.6 * pi, -0.6 * pi, -0.6 * pi, -0.6 * pi, -0.6 * pi]; % positive: move foot back -tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move foot inward -tr_LHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move knee left (c-clockw) +tr_LHipY = [0, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move foot back +tr_LHipX = zeros(1, COUNT); % pos: move foot inward +tr_LHipZ = zeros(1, COUNT); % pos: move knee left (c-clockw) + % ^ same as [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] -tr_LKneeY = [0, 0.375 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.85 * pi, 0.85 * pi, 0.85 * pi, 0.85 * pi, 0.85 * pi, 0.85 * pi, 0.85 * pi]; % pos: bend knee normally +tr_LKneeY = [0, 0.375 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi]; % pos: bend knee normally -tr_LAnkleY = [0, -0.2 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi]; % pos: point toes down (pitch) +tr_LAnkleY = [0, -0.2 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi]; % pos: point toes down (pitch) tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 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, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.3 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi]; % positive: move leg back -tr_RHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in +tr_RHipY = [0, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move leg back +tr_RHipX = [0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in tr_RHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv c-clockw -tr_RKneeY = [0, 0.375 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi, 0.75 * pi]; % pos: bend knee +tr_RKneeY = [0, 0.375 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi]; % pos: bend knee -tr_RAnkleY = [0, -0.2 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi, -0.4 * pi]; % pos: toes down +tr_RAnkleY = [0, -0.2 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi]; % pos: toes down tr_RAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side down %% The rest of this script does not need to be modified by hand.%%