give Limbs1.m single leg's worth of position data

dat/Limbs1.m

@@ -1,15 +1,29 @@
+%% Bend the Knees %%
+
+END = 8;
+
 % setup vars
-t = [0, 1, 2, 3, 4];
-p = [0, -2, -5, -2, 0];
+t         = 0 : 1 : END;
+pos_hip   = [0, -1, 0, 0, 0, 0, 0, 0, 0];
+pos_knee  = [0, 2, 0, 0, 0, 0, 0, 0, 0];
+pos_ankle = [0, -0.5, 0, 0, 0, 0, 0, 0, 0];
 
 % generate graph lines
-querypts = 0:0.001:4;
-interpts = interp1(t, p, querypts, 'spline')';
+querypts_hip   = 0 : 0.001 : END;
+querypts_knee  = 0 : 0.001 : END;
+querypts_ankle = 0 : 0.001 : END;
 
-ret_LHip  = [querypts', interpts];
-ret_RHip  = [querypts', interpts];
-ret_LKnee = [querypts', interpts];
-ret_RKnee = [querypts', interpts];
+interpts_hip   = interp1(t, pos_hip, querypts_hip, 'spline')';
+interpts_knee  = interp1(t, pos_knee, querypts_knee, 'spline')';
+interpts_ankle = interp1(t, pos_ankle, querypts_ankle, 'spline')';
+
+ret_LHip   = [querypts_hip', interpts_hip];
+ret_LKnee  = [querypts_knee', interpts_knee];
+ret_LAnkle = [querypts_ankle', interpts_ankle];
+
+ret_RHip    = [querypts_hip', interpts_hip];
+ret_RKnee   = [querypts_knee', interpts_knee];
+ret_RAnkle = [querypts_ankle', interpts_ankle];
 
 % create graph
 %figure

slprj/sim/varcache/t1a/tmwinternal/simulink_cache.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <MF0 version="1.1" packageUris="http://schema.mathworks.com/mf0/SlCache/1.0">
-  <slcache.FileAttributes type="slcache.FileAttributes" uuid="a5bbb415-5bff-4703-9254-97a5cbd66a18">
-    <checksum>FwEqJd/qtELI+ebGV50MX8IPnLf54deP5tOPEcahTDkJksEpTRjRGMGe30Amf0QX/Cc8MxZf6a6AbQgnrwB8ZA==</checksum>
+  <slcache.FileAttributes type="slcache.FileAttributes" uuid="0864d632-81a3-42ed-86ec-d0007daae2e8">
+    <checksum>VYmjymqAiZnEQPQ/JoxiVdaoPdtp0RIrtiitM5E1z2FVMw/EgxEHyTMxm2QxcImOc64yuxzSxuq1TWsl/aI++g==</checksum>
   </slcache.FileAttributes>
 </MF0>