Non-interpolated movements

[koenkooi]

With the recent firmware and pomoco changes the interpolated movements like replantFoot() are very jerky, so I made some changes to remove the interpolation:

https://github.com/koenkooi/PoMoCo/commit/2796894c5bd1634205cb6cfd8ca00ce18787fa6b
https://github.com/koenkooi/PoMoCo/commit/9be8c653e475eb358d3dc996f04482b0d6a27c92

And some more changes:

https://github.com/koenkooi/PoMoCo/commits/koen

This allows the hexy to move faster:

http://www.youtube.com/watch?v=MQvzUbsyHzs

Ideally the replantFoot() functions would run completely on the servotor32 board, but I don’t know how much headroom the microcontroller has left for that.

[ebinary]

Cool.

Looks like we need to have grippier feet with this speed of movement - look at all that skidding.

[rpcook]

I’d attribute the skidding to leg control that doesn’t maintain constant foot position, e.g. the knees and ankles are static as the hip joints move the robot forwards (this traces an arc along the ground). I have noticed a similar effect on my Hexy with “stock” code. Some modified movement code should rectify this (inverse kinematic based).