void JuppWalk::doWalk()
{
#if DEBUG_NUMOTION_VERBOSITY > 4
debug << "JuppWalk::doWalk()" << std::endl;
#endif
getParameters();
// Convert speed vector into swing leg amplitudes (ar, ap, ay)
m_swing_amplitude_roll = asin(-m_speed_y/(2*m_step_frequency*m_leg_length));
m_swing_amplitude_pitch = asin(m_speed_x/(2*m_step_frequency*m_leg_length));
m_swing_amplitude_yaw = m_speed_yaw/(2*m_step_frequency);
calculateGaitPhase();
m_left_leg_phase = NORMALISE(m_gait_phase + M_PI/2);
m_right_leg_phase = NORMALISE(m_gait_phase - M_PI/2);
calculateGyroFeedback();
calculateLeftLeg();
calculateRightLeg();
calculateLeftArm();
calculateRightArm();
updateActionatorsData();
#if DEBUG_NUMOTION_VERBOSITY > 4
debug << "JuppWalk::doWalk(). Completed" << std::endl;
#endif
}
void DarwinWalk::doWalk()
{
//SET THE MOTOR POSITIONS IN THE WALK ENGINE:
updateWalkEngineSensorData();
//TELL THE WALK ENGINE THE NEW COMMAND
if(m_speed_x==0 && m_speed_y==0 && m_speed_yaw ==0 )
Robot::Walking::GetInstance()->Stop();
else
Robot::Walking::GetInstance()->Start();
vector<float> speeds = m_walk_parameters.getMaxSpeeds();
Robot::Walking::GetInstance()->X_MOVE_AMPLITUDE = m_speed_x/speeds[0]*15;
Robot::Walking::GetInstance()->Y_MOVE_AMPLITUDE = m_speed_y/speeds[1]*15;
Robot::Walking::GetInstance()->A_MOVE_AMPLITUDE = m_speed_yaw/speeds[2]*25;
//cout << "Walk Commands: " << Robot::Walking::GetInstance()->X_MOVE_AMPLITUDE << " " << Robot::Walking::GetInstance()->Y_MOVE_AMPLITUDE << " " << Robot::Walking::GetInstance()->A_MOVE_AMPLITUDE << endl;
Robot::Walking::GetInstance()->Process();
//GET THE NEW TARGET POSITIONS FROM THE WALK ENGINE
updateActionatorsData();
return;
}
