Method |
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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[] |
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CalibrateFootHeight ( ) : void |
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ConfigureFootSwitches ( ) : void |
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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[][] |
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GetATan2 ( double atanX, double atanY, double &xyhyp2 ) : double |
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GetArcCos ( double cos ) : double |
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GetServoPositions ( IList coxaAngles, IList femurAngles, IList tibiaAngles ) : string |
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GetSinCos ( double angleDeg, double &sin, double &cos ) : void |
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IkCalculation ( int legIndex ) : void |
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IkLoop ( ) : void |
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ImuEventHandler ( object sender, ImuDataEventArgs e ) : void |
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InitializeAsync ( ) : Task |
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InverseKinematics ( SparkFunSerial16X2Lcd display ) : System |
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LoadLegDefaultsAsync ( ) : Task |
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RangingEventHandler ( object sender, RangeDataEventArgs e ) : void |
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RequestBodyPosition ( double bodyRotX1, double bodyRotZ1, double bodyPosX, double bodyPosZ, double bodyPosY, double bodyRotY1 ) : void |
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RequestLegYHeight ( int leg, double yPos ) : void |
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RequestMovement ( double gaitSpeed, double travelLengthX, double travelLengthZ, double travelRotationY ) : void |
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RequestSaveLegYHeightCorrector ( ) : void |
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RequestSetFunction ( SelectedIkFunction selectedIkFunction ) : void |
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RequestSetGaitOptions ( double gaitSpeed, double legLiftHeight ) : void |
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RequestSetGaitType ( GaitType gaitType ) : void |
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RequestSetMovement ( bool enabled ) : void |
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StartAsync ( ) : System.Threading.Tasks.Task |
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TurnOffServos ( ) : string |
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