I want to set limits for the motion of my quadruped robot legs such that:
-----when I select an individual foot to control with joysticks changing the values of x,y,z of the foot (x + xchange, y + ychange etc.,,,, map(xJoystick, 0, 1023, -4, 4) ((millimeters)) ,,, --- ,,, (push joystick 1 to left, x coordinate of selected foot begins moving so many millimeters per loop, etc. using kinematics engine).
-----when the foot reaches the edge of its possible reach, rather than the x coordinate continuing to change within the loop (able to reach coordinates of thousands of millimeters away in seconds, viewable on serial monitor), the x coordinate will remain set at the constraint at the edge of the foots work envelope.
------so,, costraint will NOT be simply an x coordinate relative to the robots body center (0,0 on the coordinate field in my kinematics engine present),, the constraint will need to be set to a spherical circumference around the hip joint. (well,, I realize that in truth my leg will have lots of limitations based on the joints of my leg,, and that it is a VERY complex series of relatively simple equations,, I will for now be happy with a simple circle constraint that ensures that when I send my joystick back the other direction, I don't have to wait and wait for x to enter back within my general field of motion)))))....
SO,, does constraint work this way?? where I can program ---constrain(x, center of circle, circumference of circle),, ,,