Understanding Gait Tables

lassethomsen

Hi.

I have been looking at a couple of projects wich is using the Parallax propeller together with the Hexcrawler, and everything seems very fine. But im having trouble understanding the Gait tables they are using. An example of a Gait table is this:

  ' Adjustable vertical servo positions
  RaiseRight    = 300           ' Raised and lowered
  LowerRight    = 1200          ' Vertical servo values
  RaiseLeft     = 1200
  LowerLeft     = 300


DAT
        ' Gait Tables
        Home  long $01, RaiseRight, $05, RaiseRight, $09, RaiseLeft
              long $03, RaiseRight, $07, RaiseLeft,  $0B, RaiseLeft
              long $01, LowerRight, $05, LowerRight, $09, LowerLeft
              long $02, Center,     $06, Center,     $0A, Center
              long $01, RaiseRight, $05, RaiseRight, $09, RaiseLeft
              long $03, LowerRight, $07, LowerLeft,  $0B, LowerLeft
              long $00, Center,     $04, Center,     $08, Center
              long $01, LowerRight, $05, LowerRight, $09, LowerLeft
              long $FF


        Fwd   long $01, RaiseRight,  $05, RaiseRight,  $09, RaiseLeft
              long $02, Leg2Back,    $06, Leg4Back,    $0A, Leg6Back
              long $00, Leg1Forward, $04, Leg3Forward, $08, Leg5Forward
              long $01, LowerRight,  $05, LowerRight,  $09, LowerLeft
              long $03, RaiseRight,  $07, RaiseLeft,   $0B, RaiseLeft
              long $00, Leg1Back,    $04, Leg3Back,    $08, Leg5Back
              long $02, Leg2Forward, $06, Leg4Forward, $0A, Leg6Forward
              long $03, LowerRight,  $07, LowerLeft,   $0B, LowerLeft
              long $FF

How should i read these tables?

Zoot

As far as I know, Steve Norris is the man when it comes to the crawlers (he wrote the GaitPIC code for the Hexcrawler). You might try calling this thread to his attention and see if he has some answers.

http://forums.parallax.com/member.php?u=43060

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When the going gets weird, the weird turn pro. -- HST

PAR

lassethomsen said...
Hi.

I have been looking at a couple of projects wich is using the Parallax propeller together with the Hexcrawler, and everything seems very fine. But im having trouble understanding the Gait tables they are using. An example of a Gait table is this:

  ' Adjustable vertical servo positions
  RaiseRight    = 300           ' Raised and lowered
  LowerRight    = 1200          ' Vertical servo values
  RaiseLeft     = 1200
  LowerLeft     = 300


DAT
        ' Gait Tables
        Home  long $01, RaiseRight, $05, RaiseRight, $09, RaiseLeft
              long $03, RaiseRight, $07, RaiseLeft,  $0B, RaiseLeft
              long $01, LowerRight, $05, LowerRight, $09, LowerLeft
              long $02, Center,     $06, Center,     $0A, Center
              long $01, RaiseRight, $05, RaiseRight, $09, RaiseLeft
              long $03, LowerRight, $07, LowerLeft,  $0B, LowerLeft
              long $00, Center,     $04, Center,     $08, Center
              long $01, LowerRight, $05, LowerRight, $09, LowerLeft
              long $FF


        Fwd   long $01, RaiseRight,  $05, RaiseRight,  $09, RaiseLeft
              long $02, Leg2Back,    $06, Leg4Back,    $0A, Leg6Back
              long $00, Leg1Forward, $04, Leg3Forward, $08, Leg5Forward
              long $01, LowerRight,  $05, LowerRight,  $09, LowerLeft
              long $03, RaiseRight,  $07, RaiseLeft,   $0B, RaiseLeft
              long $00, Leg1Back,    $04, Leg3Back,    $08, Leg5Back
              long $02, Leg2Forward, $06, Leg4Forward, $0A, Leg6Forward
              long $03, LowerRight,  $07, LowerLeft,   $0B, LowerLeft
              long $FF

How should i read these tables?

It's hard to know what to explain since you don't indicate what you do not understand (of course, sometimes we don't know what we don't know and that itself is another problem), and do not provide the context (the rest of the code) which shows how those "gait" variables/values are used by the particular·program.

Can you provide a pointer to the entire source code?

Have you read through the entire source code to see how these tables are referenced by the code that actually uses these data (tables)?

Then, any more specific questions?

PAR