Functional explanation

Open correderadiego opened this issue 7 years ago • 1 comments

It would be great to create a functional definition with the basic working modes of the robot. I am thinking about a description of the different walking modes and what to do in each mode. I have realized that it has declared from line 73 to 93 but I would need further explanation.

Mar 30 '18 16:03 correderadiego

I'm shrinking the bytes of code by using abbreviations for different gaits.

bd: bound
tr: trot
wk: walk
cr: crawl
bk: back
L/R means left/right.
from bound to back, it (roughly) follows a trend of reducing speed.

Full gait names are now added to catMini.ino, after those abbreviations.

The control could be organized in another way, such as:

forward/backward to change the gaits corresponding to different speeds.
left/right key for turning left and right
number keys for different postures or behaviors

Different gait modes are the servo angles in different time frames and are periodical. They are derived with my algorithm stored elsewhere.

Mar 31 '18 04:03 borntoleave