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49 lines
1.3 KiB
Python
49 lines
1.3 KiB
Python
6 years ago
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kLegMountLeftRightX = 29.87
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kLegMountOtherX = 22.41
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kLegMountOtherY = 55.41
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kLegRootToJoint1 = 20.75
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kLegJoint1ToJoint2 = 28.0
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kLegJoint2ToJoint3 = 42.6
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kLegJoint3ToTip = 89.07
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SIN30 = 0.5
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COS30 = 0.866
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SIN45 = 0.7071
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COS45 = 0.7071
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SIN15 = 0.2588
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COS15 = 0.9659
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STANDBY_Z = (kLegJoint3ToTip*COS15-kLegJoint2ToJoint3*SIN30)
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LEFTRIGHT_X = (kLegMountLeftRightX+kLegRootToJoint1+kLegJoint1ToJoint2+(kLegJoint2ToJoint3*COS30)+kLegJoint3ToTip*SIN15)
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OTHER_X = (kLegMountOtherX + (kLegRootToJoint1+kLegJoint1ToJoint2+(kLegJoint2ToJoint3*COS30)+kLegJoint3ToTip*SIN15)*COS45)
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OTHER_Y = (kLegMountOtherY + (kLegRootToJoint1+kLegJoint1ToJoint2+(kLegJoint2ToJoint3*COS30)+kLegJoint3ToTip*SIN15)*SIN45)
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defaultPosition = (
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(OTHER_X, OTHER_Y, -STANDBY_Z),
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(LEFTRIGHT_X, 0, -STANDBY_Z),
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(OTHER_X, -OTHER_Y, -STANDBY_Z),
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(-OTHER_X, -OTHER_Y, -STANDBY_Z),
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(-LEFTRIGHT_X, 0, -STANDBY_Z),
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(-OTHER_X, OTHER_Y, -STANDBY_Z),
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)
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mountPosition = (
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(kLegMountOtherX, kLegMountOtherY, 0),
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(kLegMountLeftRightX, 0, 0),
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(kLegMountOtherX, -kLegMountOtherY, 0),
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(-kLegMountOtherX, -kLegMountOtherY, 0),
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(-kLegMountLeftRightX, 0, 0),
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(-kLegMountOtherX, kLegMountOtherY, 0),
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)
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defaultAngle = (
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-45, 0, 45, 135, 180, 225
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)
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angleLimitation = (
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(-45, 45),
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(-45, 75),
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(-60, 60),
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)
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