The code for the puppy's walking motion (gait) is in the [
WalkingMotion
] tab. The gait consist of 10 steps with
nothing happening in steps 2,4,7 & 9 to allow more time for the legs to move forward / backward. Essentially, two
diagonally opposite legs lift simultaneously, move forward or backward by the values
LShift,
RShift
then lower
again. Then the other two legs raise, move and lower.
Negative values of
LShift
and
RShift
make the legs go backward instead of forward. The
Speed
constant
determines the number of milliseconds between steps in the gait.
Stepsize
set the limit for the size of the steps.
Understanding the software (cont.)
If the robot is not bored then the code in the [
Play
] tab determines if the puppy walks or jumps. Normally the puppy
will walk unless the size of the steps, determined by the distance is too small. If the head tilts far enough upward to
track the object then the robot will jump.
20