//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