C# Class HexapiBackground.IK.InverseKinematics

This is a port of the "Phoenix" 3DOF Hexapod code in C#. Uses CH3-R body from Lynxmotion/robotshop.com https://github.com/KurtE/Arduino_Phoenix_Parts/tree/master/Phoenix http://www.robotshop.com/en/lynxmotion-aexapod-ch3-r-combo-kit-body-frame.html
Datei anzeigen Open project: Slimordium/Hexapi_Hexapod Class Usage Examples

Public Methods

Method Description
GaitSelect ( ) : bool

Private Methods

Method Description
BodyLegIk ( int legIndex, double legPosX, double legPosY, double legPosZ, double bodyPosX, double bodyPosY, double bodyPosZ, double gaitPosX, double gaitPosY, double gaitPosZ, double gaitRotY, double offsetX, double offsetZ, double bodyRotX, double bodyRotZ, double bodyRotY, double coxaAngle ) : double[]
CalibrateFootHeight ( ) : void
ConfigureFootSwitches ( ) : void
Gait ( int legIndex, bool travelRequest, double travelLengthX, double travelLengthZ, double travelRotationY, double gaitPosX, double gaitPosY, double gaitPosZ, double gaitRotY, int numberOfLiftedPositions, int gaitLegNr, double legLiftHeight, int liftDivFactor, double halfLiftHeight, int stepsInGait, int tlDivFactor ) : double[][]
GetATan2 ( double atanX, double atanY, double &xyhyp2 ) : double
GetArcCos ( double cos ) : double
GetServoPositions ( IList coxaAngles, IList femurAngles, IList tibiaAngles ) : string
GetSinCos ( double angleDeg, double &sin, double &cos ) : void
IkCalculation ( int legIndex ) : void
IkLoop ( ) : void
ImuEventHandler ( object sender, ImuDataEventArgs e ) : void
InitializeAsync ( ) : Task
InverseKinematics ( SparkFunSerial16X2Lcd display ) : System
LoadLegDefaultsAsync ( ) : Task
RangingEventHandler ( object sender, RangeDataEventArgs e ) : void
RequestBodyPosition ( double bodyRotX1, double bodyRotZ1, double bodyPosX, double bodyPosZ, double bodyPosY, double bodyRotY1 ) : void
RequestLegYHeight ( int leg, double yPos ) : void
RequestMovement ( double gaitSpeed, double travelLengthX, double travelLengthZ, double travelRotationY ) : void
RequestSaveLegYHeightCorrector ( ) : void
RequestSetFunction ( SelectedIkFunction selectedIkFunction ) : void
RequestSetGaitOptions ( double gaitSpeed, double legLiftHeight ) : void
RequestSetGaitType ( GaitType gaitType ) : void
RequestSetMovement ( bool enabled ) : void
StartAsync ( ) : System.Threading.Tasks.Task
TurnOffServos ( ) : string

Method Details

GaitSelect() public method

public GaitSelect ( ) : bool
return bool