add dat/EX_bend.m

dat/EX_bend.m

@@ -0,0 +1,85 @@
+%% 3D actuation of all joints %%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+COUNT = 4;
+GAIN  = 1;
+
+GAIN_HIP   = GAIN;
+GAIN_KNEE  = GAIN;
+GAIN_ANKLE = GAIN;
+
+% setup timeline, query points
+t = 0 : 1 : COUNT - 1;
+%q = 0 : 0.001 : COUNT - 1;
+q = 0 : 1: COUNT - 1; % set precision. e.g. q = 0 : 0.001 : COUNT-1; for 1e-3 precision
+
+% 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 COUNT.
+
+%% TRACKS: Left Leg Joints X, Y, Z%%
+tr_LHipY = [0, -0.14 * pi, -0.28 * pi, -0.28 * pi]; % positive: move foot back
+tr_LHipX = [0, 0, 0, 0];                            % pos: move foot inward
+tr_LHipZ = [0, 0, 0, 0];                            % pos: move knee left (c-clockw)
+
+tr_LKneeY = [0, 0.375 * pi, 0.75 * pi, 0.75 * pi]; % pos: bend knee normally
+
+tr_LAnkleY = [0, -0.2 * pi, -0.4 * pi, -0.4 * pi]; % pos: point toes down (pitch)
+tr_LAnkleX = [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]; % positive: move leg back
+tr_RHipX = [0, 0, 0, 0];                            % pos: mv foot in
+tr_RHipZ = [0, 0, 0, 0];                            % pos: mv c-clockw
+
+tr_RKneeY = [0, 0.375 * pi, 0.75 * pi, 0.75 * pi]; % pos: bend knee
+
+tr_RAnkleY = [0, -0.2 * pi, -0.4 * pi, -0.4 * pi]; % pos: toes down
+tr_RAnkleX = [0, 0, 0, 0];                         % pos: right side down
+
+%% The rest of this script does not need to be modified by hand.%%
+
+% interp's, left leg
+it_LHipY = interp1(t, tr_LHipY, q, 'spline')';
+it_LHipZ = interp1(t, tr_LHipZ, q, 'spline')';
+it_LHipX = interp1(t, tr_LHipX, q, 'spline')';
+
+it_LKneeY = interp1(t, tr_LKneeY, q, 'spline')';
+
+it_LAnkleY = interp1(t, tr_LAnkleY, q, 'spline')';
+it_LAnkleX = interp1(t, tr_LAnkleX, q, 'spline')';
+
+% interp's, right leg
+it_RHipY = interp1(t, tr_RHipY, q, 'spline')';
+it_RHipZ = interp1(t, tr_RHipZ, q, 'spline')';
+it_RHipX = interp1(t, tr_RHipX, q, 'spline')';
+
+it_RKneeY = interp1(t, tr_RKneeY, q, 'spline')';
+
+it_RAnkleY = interp1(t, tr_RAnkleY, q, 'spline')';
+it_RAnkleX = interp1(t, tr_RAnkleX, q, 'spline')';
+
+%% RETURN VALUES %%
+
+% Left Leg
+ret_LHipY = [q', it_LHipY];
+ret_LHipZ = [q', it_LHipZ];
+ret_LHipX = [q', it_LHipX];
+
+ret_LKnee = [q', it_LKneeY];
+
+ret_LAnkleY = [q', it_LAnkleY];
+ret_LAnkleX = [q', it_LAnkleX];
+
+%%%%%%%%%%%%%%%%%%%%
+
+% Right Leg
+ret_RHipY = [q', it_RHipY];
+ret_RHipZ = [q', it_RHipZ];
+ret_RHipX = [q', it_RHipX];
+
+ret_RKnee = [q', it_RKneeY];
+
+ret_RAnkleY = [q', it_RAnkleY];
+ret_RAnkleX = [q', it_RAnkleX];