Page 283 - Robot Design Handbook ROBOCON Malaysia 2019

START
SET CONSTANT FOR SERVO
CytronServoShield servo1;
CytronServoShield servo2;
CytronServoShield servo3;
CytronServoShield servo4;
const int ser vo_pin[4][3] = { {2, 3, 4}, {5, 6,
7}, {8, 9, 10}, {11, 12, 13} };
SET CONSTANT FOR SIZE OF ROBOT
const float length_a = 85;
const float length_b = 245;
const float length_c = 45;
const float length_side = 210;
const float z_absolute = -250;
const int WALK = 0;
const int RELAX = 1;
const int SP RAWL = 2;
const bool FALSE = 0;
const bool TRUE = 1;
volatile float site_now[4][3];
volatile float angle_expect[4][3];
volatile float site_expect[4][3];
volatile bool capture = true;
float temp_speed[4][3];
float move_speed;
float speed_multiple = 1;
int leg_position
Figure 5: Flow-chart of the programme
3.0 PRESENTATION OF DATA
No simulation is done during the development process as the method we use is a
trial and error one.
279
A
const float spot_turn_speed = 40;
const float leg_move_speed = 100;
const float body_move_speed = 80;
const float stand_seat_speed = 40;
const float gyrate_speed = 0.8;
const float bow_speed = 1;
volatile int rest_counter;
const float KEEP = 255;
const float pi = 3.1415926;
volatile float site_cg[4][3];
const float robot_side_length = 70.84;
const float robot_front_length = 77.92;
const float robot_centre_to_pivot =
sqrt(pow(robot_side_length / 2, 2) +
pow(robot_front_length / 2, 2));
const float move_angle = 15;
const float temp_hyp = sqrt(pow(x_default -
x_offset, 2) + pow(y_start + y_step, 2)) +
robot_centre_to_pivot;
const float angle_1 = atan((y_start + y_step, 2) /
(x_default - x_offset, 2));
const float move_x1 = temp_hyp * cos(angle_1
- move_angle);
const float move_y1 = temp_hyp * sin(angle_1 -
move_angle);
const float move_x2 = temp_hyp * cos(angle_1
+ move_angle);
const float move_y2 = temp_hyp * sin(angle_1
+ move_angle);
const float half_step = 10;
const float cg_shift = 14;