From 6857de09d612f4663238dd7b86fea18aa480e870 Mon Sep 17 00:00:00 2001 From: David Weis Date: Wed, 15 Nov 2017 07:07:06 +0100 Subject: [PATCH] Change coordiante space --- Quadruped/QuadrupedIkDriver.cs | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Quadruped/QuadrupedIkDriver.cs b/Quadruped/QuadrupedIkDriver.cs index 22a18de..d5f5722 100644 --- a/Quadruped/QuadrupedIkDriver.cs +++ b/Quadruped/QuadrupedIkDriver.cs @@ -14,10 +14,10 @@ public class QuadrupedIkDriver : IDisposable // Correction numbers are set up so that if you add them to the angle the motor center will bo pointing to the desired angle // the offset for each axis is than added to compensate for the shape of the legs - private static readonly LegConfiguration LeftFront = new LegConfiguration(1, 3, 5, 45, new Vector3(-6.5f, 6.5f, 0), -240 + FemurOffset, -330 + TibiaOffset); - private static readonly LegConfiguration RightFront = new LegConfiguration(2, 4, 6, -45, new Vector3(6.5f, 6.5f, 0), 60 + FemurOffset, -30 + TibiaOffset); - private static readonly LegConfiguration LeftRear = new LegConfiguration(7, 9, 11, 135, new Vector3(-6.5f, -6.5f, 0), 60 + FemurOffset, -30 + TibiaOffset); - private static readonly LegConfiguration RightRear = new LegConfiguration(8, 10, 12, -135, new Vector3(6.5f, -6.5f, 0), -240 + FemurOffset, -330 + TibiaOffset); + private static readonly LegConfiguration LeftFront = new LegConfiguration(1, 3, 5, 45, new Vector3(6.5f, 6.5f, 0), -240 + FemurOffset, -330 + TibiaOffset); + private static readonly LegConfiguration RightFront = new LegConfiguration(2, 4, 6, -45, new Vector3(6.5f, -6.5f, 0), 60 + FemurOffset, -30 + TibiaOffset); + private static readonly LegConfiguration LeftRear = new LegConfiguration(7, 9, 11, 135, new Vector3(-6.5f, 6.5f, 0), 60 + FemurOffset, -30 + TibiaOffset); + private static readonly LegConfiguration RightRear = new LegConfiguration(8, 10, 12, -135, new Vector3(-6.5f, -6.5f, 0), -240 + FemurOffset, -330 + TibiaOffset); private static readonly byte[] Coxas = { LeftFront.CoxaId, RightFront.CoxaId, LeftRear.CoxaId, RightRear.CoxaId }; private static readonly byte[] Femurs = { LeftFront.FemurId, RightFront.FemurId, LeftRear.FemurId, RightRear.FemurId };