public static Phoenix CreatePhoenix(HomePosition startPosition)
{
Phoenix phoenix = new Phoenix
{
LeftFrontLeg = createLeg(Side.Left, Position.Front, 60, 1, 3, 5, 4.3, -8.2, startPosition.LeftFrontLeg),
RightFrontLeg = createLeg(Side.Right, Position.Front, -60, 2, 4, 6, -4.3, -8.2, startPosition.RightFrontLeg),
LeftMiddleLeg = createLeg(Side.Left, Position.Middle, 0, 7, 9, 11, 6.3, 0, startPosition.LeftMiddleLeg),
RightMiddleLeg = createLeg(Side.Right, Position.Middle, 0, 8, 10, 12, -6.3, 0, startPosition.RightMiddleLeg),
LeftRearLeg = createLeg(Side.Left, Position.Rear, -60, 13, 15, 17, 4.3, 8.2, startPosition.LeftRearLeg),
RightRearLeg = createLeg(Side.Right, Position.Rear, 60, 14, 16, 18, -4.3, 8.2, startPosition.RightRearLeg)
};
phoenix.MoveBody(0, 90);// calculates start posisions for angles
return phoenix;
}
