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### Topic: Me and my Quadrabot (Read 8134 times)previous topic - next topic

#### CrazyEyesNZ

#15
##### Feb 10, 2012, 10:46 pm
Sorry I have taken my sweet time returning to this forum, life has been busy.

All I've done at this stage is make a to the change to the movements. Now instead of making the foot move from point A to point B, it moves in a path between point A to point B, stopping at a predetermined (set at three in this example) number of points along the path. I have done this in an attempt to create a more accurate path. The path is made from the original coordinates and mathematically added within the program.

There are still a few glitches in it and it looks quite dumb imo, but its a start.

Code: [Select]
`void doTest(){  for (h=0; h<testcount; h++) //step  {      for (e=0; e<12; e++) //servo  {    for (d=1; d<testcount; d++)    {        if (h==0)  //if first step      {        move=test[e][h];        myservo[e].write(move);      }      else      {        if (h!=0 && h<=testcount) //if subsequent steps        {          if (test[e][h]==test[e][h-1]) //if move-to is equal to          {            move=test[e][h];            myservo[e].write(move);          }          else if (test[e][h]>test[e][h-1]) //if move-to is greater than          {            c=test[e][h]-test[e][h-1];            c=c/3;            move=test[e][h]-(c*d);            myservo[e].write(move);            delay(pause);          }          else if (test[e][h]<test[e][h-1]) //if move-to is less than          {            c=test[e][h-1]-test[e][h];            c=c/3;            move=test[e][h]+(c*d);            myservo[e].write(move);            delay(pause);          }        }      }    }  }  delay(pause);  }}`

For all those that want to follow a little closer I have set up a Facebook page:

#### CrazyEyesNZ

#16
##### Feb 13, 2012, 08:28 am
Opps, I put the wrong code on there, sorry:

Code: [Select]
`void doTest(){  for (h=0; h<testcount; h++) //step  {     for (d=divisor; d>0; d--) //divisions per movement    {      for (e=0; e<12; e++) //servo      {        savepos[e]=test[e][h];        if (h==0) //if first step        {          if (test[e][h]==savepos[e]) //if move-to is equal to          {            move=test[e][h];            myservo[e].write(move);          }          else if (test[e][h]>savepos[e]) //if move-to is greater than          {            c=test[e][h]-savepos[e];            c=c/3;            move=test[e][h]-(c*d);            myservo[e].write(move);          }          else if (test[e][h]<savepos[e]) //if move-to is less than          {            c=savepos[e]-test[e][h];            c=c/3;            move=test[e][h]+(c*d);            myservo[e].write(move);          }        }        else        {          if (h!=0 && h<=testcount) //if subsequent steps          {            if (test[e][h]==test[e][h-1]) //if move-to is equal to            {              move=test[e][h];              myservo[e].write(move);            }            else if (test[e][h]>test[e][h-1]) //if move-to is greater than            {              c=test[e][h]-test[e][h-1];              c=c/3;              move=test[e][h]-(c*d);              myservo[e].write(move);            }            else if (test[e][h]<test[e][h-1]) //if move-to is less than            {              c=test[e][h-1]-test[e][h];              c=c/3;              move=test[e][h]+(c*d);              myservo[e].write(move);            }          }        }        delay(pause/(divisor*2));      }    }  }} `

#### Cello62

#17
##### Feb 14, 2012, 09:04 amLast Edit: Feb 14, 2012, 03:12 pm by Cello62 Reason: 1
Hi
Nice project!
Would you mind to do a litte "instructables" with any photo, to explain how to assembly the legs,wires and sensor?
Thanks for all

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