%% 3D actuation of all joints %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

COUNT = 16;
GAIN  = 2;

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, -0.14 * 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 = [0, 0, 0, 0, 0, 0, 0.01 * pi, 0, 0, 0, 0, 0, 0, 0, 0, 0];                                                                                                                        % pos: move foot outward
tr_LHipZ = zeros(1, COUNT);                                                                                                                                                                         % pos: move knee left (c-clockw)

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, -0.25 * 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, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.38 * 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, -0.1 * pi, 0, 0, 0, 0, 0, 0, 0, 0];                                                                                                                       % pos: mv foot in
tr_RHipZ = zeros(1, COUNT);                                                                                                                                                                         % pos: mv c-clockw

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, -0.25 * 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.%%

% 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];