public RippelGate6(Phoenix phoenix, HomePosition homePosition)
{
_phoenix = phoenix;
_homePosition = homePosition;
rflStep = 5;
rmlStep = 1;
rrlStep = 3;
lflStep = 2;
lmlStep = 4;
lrlStep = 0;
step = 0;
}
/*
rflStep = 6 ‘Right front leg
rmlStep = 2 ‘Right middle leg
rrlStep = 4 ‘Right rear leg
lflStep = 3 ‘Left front leg
lmlStep = 5 ‘Left middle leg
lrlStep = 1 ‘Left rear leg
* */
public void AddPosision(Phoenix phoenix)
{
try
{
_movments[addStep(rflStep)].AddRange(phoenix.RightFrontLeg.GetMovements());
_movments[addStep(rmlStep)].AddRange(phoenix.RightMiddleLeg.GetMovements());
_movments[addStep(rrlStep)].AddRange(phoenix.RightRearLeg.GetMovements());
_movments[addStep(lflStep)].AddRange(phoenix.LeftFrontLeg.GetMovements());
_movments[addStep(lmlStep)].AddRange(phoenix.LeftMiddleLeg.GetMovements());
_movments[addStep(lrlStep)].AddRange(phoenix.LeftRearLeg.GetMovements());
step++;
}
catch (Exception e)
{
throw;
}
}