Development Vincross Mind Documentation

MoveLegsSkill

You can find the MoveLegsSkill example code on our GitHub. Here are some annotated notes about the implementation and reference to help you build your own Skills.

ready() function

func ready() {
	hexabody.Stand()
	hexabody.MoveHead(0.0, FAST_DURATION)
	// Using goroutines to make some commands be executed at the same time
	go hexabody.MoveLeg(2, hexabody.NewLegPosition().SetCoordinates(-100, 50.0, 70.0), SLOW_DURATION)
	hexabody.MoveLeg(5, hexabody.NewLegPosition().SetCoordinates(100, 50.0, 70.0), SLOW_DURATION)
	go hexabody.MoveJoint(0, 1, 90, SLOW_DURATION)
	hexabody.MoveJoint(0, 2, 45, SLOW_DURATION)
	go hexabody.MoveJoint(1, 1, 90, FAST_DURATION)
	hexabody.MoveJoint(1, 2, 45, FAST_DURATION)
}

This ready() function tells HEXA to stand, move its head to the default position, and move its legs into a starting position.

go hexabody.MoveLeg(2, hexabody.NewLegPosition().SetCoordinates(-100, 50.0, 70.0), SLOW_DURATION)
hexabody.MoveLeg(5, hexabody.NewLegPosition().SetCoordinates(100, 50.0, 70.0), SLOW_DURATION)

Let's go through these lines more in detail. From the API Reference, we see that the format for MoveLeg is:

func MoveLeg(legNumber int, legPosition *LegPosition, duration int) error

So the first argument refers to the leg number. We can tell from the diagram on the Hardware page that legs 2 and 5 refer to the left and right legs. Now that we know what legs to move, we tell HEXA to create a new leg position using the coordinates provided. You can find more information about how coordinates are set up on the Hardware page as well.

Next, we need to move the joints in the front two legs to a default position for stability.

go hexabody.MoveJoint(0, 1, 90, SLOW_DURATION)
hexabody.MoveJoint(0, 2, 45, SLOW_DURATION)
go hexabody.MoveJoint(1, 1, 90, FAST_DURATION)
hexabody.MoveJoint(1, 2, 45, FAST_DURATION)

The MoveJoint format looks like this:

func MoveJoint(legNumber, jointNumber int, degree float64, duration int) error

So that means we are going to move legs 0 and 1, and joints 1 and 2 of those legs to 90 and 45 degrees, respectively. You can see an example of the joints and their range of motion on the Hardware page.