my txt file : Configure leg.txt (1.9 KB)
//first of all, sorry for my bad english 
#define cXXCoxaLength 75
#define cXXFemurLength 114 /// my Length
#define cXXTibiaLength 223
#define cRROffsetX -54
#define cRROffsetZ 130
#define cRMOffsetX -54
#define cRMOffsetZ 0 // my body
#define cRFOffsetX -54
#define cRFOffsetZ -130
#define cLROffsetX 54
#define cLROffsetZ 130
#define cLMOffsetX 54 //mybody
#define cLMOffsetZ 0
#define cLFOffsetX 54
#define cLFOffsetZ -130
/* you can see my leg picture in the topic.In driver ssc tab code can I add the subtrack "- " in the fermur ?
wCoxaSSCV = ((long)(sCoxaAngle1 +900))*1000/cPwmDiv+cPFConst;
wFemurSSCV = ((long)((long)(sFemurAngle1+900))*1000/cPwmDiv+cPFConst);// “-” ?
wTibiaSSCV = ((long)(sTibiaAngle1+900))1000/cPwmDiv+cPFConst;/
// ****************please fix for me this stars position or you can explain
#define cHexInitXZ 98
#define CHexInitXZCos60 49 // COS(60) = .5
#define CHexInitXZSin60 84 // sin(60) = .866
#define CHexInitY 15
#define cRRInitPosX 69 //Start positions of the Right Rear leg
#define cRRInitPosY CHexInitY
#define cRRInitPosZ 69
#define cRMInitPosX cHexInitXZ //Start positions of the Right Middle leg
#define cRMInitPosY CHexInitY
#define cRMInitPosZ 0
#define cRFInitPosX 69 //Start positions of the Right Front leg
#define cRFInitPosY CHexInitY
#define cRFInitPosZ -69
#define cLRInitPosX 69 //Start positions of the Left Rear leg
#define cLRInitPosY CHexInitY
#define cLRInitPosZ 69
#define cLMInitPosX cHexInitXZ //Start positions of the Left Middle leg
#define cLMInitPosY CHexInitY
#define cLMInitPosZ 0
#define cLFInitPosX 69 //Start positions of the Left Front leg
#define cLFInitPosY CHexInitY
#define cLFInitPosZ -69