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Jul 3

Movement Basics


I am planning to create an arduino-based quadruped robot, and I am trying to grasp the concept by looking at Nybble's programs. However, I don't really understand these lines from the Nybble.ino file:

 case 0xFFA25D: PTLF(" CH-");          return (F("sit")); 

I think of the "sit" as a movement array (written on Instinct.h), but I can't find anything about the others (PTLF, F). Can somebody please explain to me about them? And how to define a new movement? Thanks

PTLF is just an abbreviation for println(F()) defined in OpenCat.h. F() turns a String into static to be saved in the flash memory. A new posture can be defined in Instinct.h. There’s a section at the end of the assembling instruction doc.

Thanks for the explanation. If the F() is only used to turns the string to static, which function is the main movement function (which input are the postures)?

It’s a mixture of several code. The arrays in instinct.h define joint angle frames. It also need a name to be called by the program. Check chapter 8, “teaching new skills”.

One more thing, can I implement the same thing to a mainstream servo controller board (like the pca 9685)?

Yes, NyBoard has a PCA 9685 onboard. It's basically an Arduino Pro mini with PCA9685 installed on the same PCB.

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