arssivka
commented
4 years ago Hi,
No, it is just a fork of the original walking algorithm with some patches. There is no official documentation about it. Almost every term in the code is a term from robot kinematics. The book "Spong M. W., Vidyasagar M. Robot dynamics and control" helped me a lot in understanding the code. Also, cyperbotics provides very useful documentation. I note that I have not programmed robots for a long time, so I do not own relevant information.
As far as I remember, ep array is an array of endpoints. It is needed to calculate the position of the servos using the inverse kinematics algorithm.
xxchenchen
Hi,
I try to understant your code. Do you have a document as pdf?
Fro example. What are ep? I can find how a document for it. Thanks
ep[0] = x_swap + x_move_r + m_X_Offset; ep[1] = y_swap + y_move_r - m_Y_Offset / 2; ep[2] = z_swap + z_move_r + m_Z_Offset; ep[3] = a_swap + a_move_r - m_R_Offset / 2; ep[4] = b_swap + b_move_r + m_P_Offset; ep[5] = c_swap + c_move_r - m_A_Offset / 2; ep[6] = x_swap + x_move_l + m_X_Offset; ep[7] = y_swap + y_move_l + m_Y_Offset / 2; ep[8] = z_swap + z_move_l + m_Z_Offset; ep[9] = a_swap + a_move_l + m_R_Offset / 2; ep[10] = b_swap + b_move_l + m_P_Offset; ep[11] = c_swap + c_move_l + m_A_Offset / 2;