Understanding Gait Tables

Comments

• Zoot Posts: 2,227

  2007-03-16 00:35 edited 2007-03-16 00:35

  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 Posts: 285

  2007-03-18 20:49 edited 2007-03-18 20:49

  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