DogRobot_copy/Walking.groovy at master · thegigi/DogRobot_copy · GitHub

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import java.time.Duration;

import java.util.ArrayList;

import javafx.application.Platform;

import org.reactfx.util.FxTimer;

import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import com.neuronrobotics.sdk.util.ThreadUtil;
import com.neuronrobotics.sdk.addons.kinematics.IDriveEngine;


double stepOverHeight=5;
long stepOverTime=100;
Double zLock=0;
Closure calcHome = { DHParameterKinematics leg ->
		TransformNR h=leg.calcHome()

		TransformNR tr = leg.forwardOffset(new TransformNR())
		tr.setZ(zLock)

		return tr;

}
boolean usePhysicsToMove = true;


return ScriptingEngine
          .gitScriptRun(
            "https://github.com/madhephaestus/carl-the-hexapod.git", // git location of the library
            "GenericWalkingEngine.groovy" , // file to load
            [stepOverHeight,stepOverTime,zLock,calcHome,usePhysicsToMove]
         )