86 lines
4.2 KiB
Matlab
86 lines
4.2 KiB
Matlab
%% 3D actuation of all joints %%
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COUNT = 16;
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GAIN = 2;
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GAIN_HIP = GAIN;
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GAIN_KNEE = GAIN;
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GAIN_ANKLE = GAIN;
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% setup timeline, query points
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t = 0 : 1 : COUNT - 1;
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%q = 0 : 0.001 : COUNT - 1;
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q = 0 : 1: COUNT - 1; % set precision. e.g. q = 0 : 0.001 : COUNT-1; for 1e-3 precision
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% vars starting with tr_ are "tracks", or arrays of unprocessed positions
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% over a period of time. The rotational position of a joint is measured
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% in radians. Each array corresponds to a degree of freedom. The length
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% of each array is to be equal to the value of COUNT.
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%% TRACKS: Left Leg Joints X, Y, Z%%
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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
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tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move foot inward
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tr_LHipZ = zeros(1, COUNT); % pos: move knee left (c-clockw)
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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
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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)
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tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side of foot down
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%% TRACKS: Right Leg Joints X, Y, Z%%
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tr_RHipY = [0, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.42 * 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
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tr_RHipX = [0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in
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tr_RHipZ = zeros(1, COUNT); % pos: mv c-clockw
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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
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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
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tr_RAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side down
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%% The rest of this script does not need to be modified by hand.%%
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% interp's, left leg
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it_LHipY = interp1(t, tr_LHipY, q, 'spline')';
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it_LHipZ = interp1(t, tr_LHipZ, q, 'spline')';
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it_LHipX = interp1(t, tr_LHipX, q, 'spline')';
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it_LKneeY = interp1(t, tr_LKneeY, q, 'spline')';
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it_LAnkleY = interp1(t, tr_LAnkleY, q, 'spline')';
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it_LAnkleX = interp1(t, tr_LAnkleX, q, 'spline')';
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% interp's, right leg
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it_RHipY = interp1(t, tr_RHipY, q, 'spline')';
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it_RHipZ = interp1(t, tr_RHipZ, q, 'spline')';
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it_RHipX = interp1(t, tr_RHipX, q, 'spline')';
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it_RKneeY = interp1(t, tr_RKneeY, q, 'spline')';
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it_RAnkleY = interp1(t, tr_RAnkleY, q, 'spline')';
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it_RAnkleX = interp1(t, tr_RAnkleX, q, 'spline')';
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%% RETURN VALUES %%
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% Left Leg
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ret_LHipY = [q', it_LHipY];
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ret_LHipZ = [q', it_LHipZ];
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ret_LHipX = [q', it_LHipX];
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ret_LKnee = [q', it_LKneeY];
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ret_LAnkleY = [q', it_LAnkleY];
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ret_LAnkleX = [q', it_LAnkleX];
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%%%%%%%%%%%%%%%%%%%%
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% Right Leg
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ret_RHipY = [q', it_RHipY];
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ret_RHipZ = [q', it_RHipZ];
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ret_RHipX = [q', it_RHipX];
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ret_RKnee = [q', it_RKneeY];
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ret_RAnkleY = [q', it_RAnkleY];
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ret_RAnkleX = [q', it_RAnkleX];
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