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TWiki > RisePrivate Web>StickyBotForceController? > GaitFileFormat>AttachmentGesture (01 Sep 2006, SalomonTrujillo)
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A gesture is a just a small segment of the total gait. It defines the motion of just one foot. The attachment gesture is used to attach the foot to the wall.

The gesture is comprised of a series of commands. The controller will read each command individually and implement the effect immediately. One command is the delimiter command, which adds a time component to the gesture.

Name Hex Parameters
Servo Position 0x1? Sets the absolute position of the servo (2 bytes)
Servo Velocity 0x2? Velocity to increment the servo in terms of ticks per timestep (2 bytes)
Servo Accleration 0x3? Acceleration to increment the velocity in terms of ticks per timestep (2 bytes)
Desired Force 0x4? Desired force (2 bytes)
Desired Force derivative 0x5? The first time derivative of desired force w.r.t. timesteps (2 bytes)
Compliance Gain 0x6? Compliance gain (in terms of servo ticks per force units) (2 bytes)
Compliance Gain derivative 0x7? The first time derivative of the compliance gain w.r.t. timesteps (2 bytes)
Time Delay 0x80 The number of ticks to wait until executing the next commands (1 byte)
End of Gesture 0x90 This ends the gesture file. (0 bytes)

The lower nibble of the command, represented by a ? is used to indicate which servo to use, wing, stroke or foot.

Foot 0
Stroke 1
Wing 2
Thus, to set the velocity of the stroke motor, use command 0x11

If a time-step lacks a particular entry, the last used entry is used. Upon entering a gesture, all values should be initialized. Otherwise, the resulting behavior is undefined.

-- SalomonTrujillo - 30 Aug 2006

 
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