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The Complete Basic Stamp PBasic Code for One Leg of a Roving Robot

Excerpt

Code is generic and can be applied to each and any leg of a Chariot or Hexapod robot. The code is lower level and requires a higher level controller, a Central Pattern Generator, to be described in chapters 10 and 11, to create functionality

9.1The variables
9.2Pin output initialisation
9.3The constants
9.4Servo constants initialisation
9.5The main programme starts now
9.6Twelve Branch vectors to compute the inverse kinematics equations
9.7Output of the servo values
9.8The subroutines to compute inverse kinematic equations for S1, S2, S3
Topics: Robots

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