jazz/rb1
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progress on W1

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jazz committed 2026-08-02 23:26:20 -05:00
1 parent ee44223553
commit 83831522c6
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+11 -10
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dat/W1.m
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@@ -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.%%