谁能帮帮我做机械狗
上了高中要做傻卵课题，报了个工作站，分到了机械狗的课题，对我这个外行，这东西越上手越头大，到了后面你会发现步态是真没有思路。
先是建模，最后做成了这个样子，中途搞搞弄弄了好几回，就不该在这上面花功夫太久的
实物如下
此时3/4的暑假已经过去......本以为可以歇一会了，马上工作站通知要中期答辩了，我就赶紧上手看看怎么做步态，发现是真不会，这条狗这怎么让它动起来啊啊啊啊啊啊啊啊啊！！！！！！去问老师，老师的回答非常浅显易懂：你上网焯一下，反正你一个高中牲没必要全部原创。
行，到网上搜了一下，要么长得不像，要么用的不是arduino，最终找到一个能抄的，但由于不是各个的机械狗不是同一个样的，所以步态非常奇葩，步态的视频我放在后面。
我知道里世界有很多大佬，像天羽，就帮我理解一下pos()这个函数到底是怎么样运作（？或者说这个方程的具体详解）就行了，我是真的搞不明白。以下是代码。
#include <Servo.h>Servo s[12];int zeroPositions[12] = {90, 95, 90, 90, 80, 90, 90, 95, 90, 90, 80, 90};int directions[12] = {-1, -1, -1, -1, +1, +1, +1, -1, -1, +1, +1, +1};const float l = 5.8;const float L = 6.0;void pos(float x, float y, float z, int leg){ float groinRadians = atan(y/z); float groinDegrees = groinRadians * (180/PI); float hipRadians1 = atan(x/z); float z1 = sqrt(sq(z) + sq(y) + sq(x)); float hipRadians2 = acos(z1/(2*l)); float hipDegrees = (hipRadians1 + hipRadians2) * (180/PI); float kneeRadians = PI - 2*hipRadians2; float kneeDegrees = 180 - kneeRadians * (180/PI); s[3*leg].write(zeroPositions[3*leg] + directions[3*leg]*groinDegrees); s[3*leg+1].write(zeroPositions[3*leg+1] + directions[3*leg+1]*hipDegrees); s[3*leg+2].write(zeroPositions[3*leg+2] + directions[3*leg+2]*kneeDegrees);}void translate(float x, float y, float z){ for (int leg = 0; leg<=3; leg++){ pos(x,y,z,leg); }}void rotate(float theta){ float thetaRadians = theta * (PI/180); float d = tan(thetaRadians) * (L/2); Serial.println(d); pos(0,0,8.0+d,0); pos(0,0,8.0+d,1); pos(0,0,8.0-d,2); pos(0,0,8.0-d,3);}void takeStep(float stepSpeed, float stepLength){ pos(+stepLength,0,9,0); pos(-stepLength,0,9,1); pos(-stepLength,0,9,2); pos(+stepLength,0,9,3); delay(stepSpeed); pos(+stepLength,0,8,0); pos(-stepLength,0,9,1); pos(-stepLength,0,9,2); pos(+stepLength,0,8,3); delay(stepSpeed); pos(-stepLength,0,8,0); pos(+stepLength,0,9,1); pos(+stepLength,0,9,2); pos(-stepLength,0,8,3); delay(stepSpeed); pos(-stepLength,0,9,0); pos(+stepLength,0,9,1); pos(+stepLength,0,9,2); pos(-stepLength,0,9,3); delay(stepSpeed); pos(-stepLength,0,9,0); pos(+stepLength,0,8,1); pos(+stepLength,0,8,2); pos(-stepLength,0,9,3); delay(stepSpeed); pos(+stepLength,0,9,0); pos(-stepLength,0,8,1); pos(-stepLength,0,8,2); pos(+stepLength,0,9,3); delay(stepSpeed);}void sideStep(){ pos(0,0,8,0); pos(0,0,8,1); pos(0,0,8,2); pos(0,0,8,3); delay(100); pos(0,0,10,0); pos(0,2,8,1); pos(0,0,10,2); pos(0,2,8,3); delay(100); pos(0,3,9,0); pos(0,-3,9,1); pos(0,3,9,2); pos(0,-3,9,3); delay(500); pos(0,0,9,0); pos(0,-3,9,1); pos(0,0,9,2); pos(0,-3,9,3); delay(100); pos(0,0,9,0); pos(0,0,9,1); pos(0,0,9,2); pos(0,0,9,3); delay(100);}void setup() { // put your setup code here, to run once: delay(1000); Serial.begin(9600); for(int i=0; i<12; i++){ s[i].attach(i + 2); } for(int i=0; i<12; i++){ s[i].write(zeroPositions[i]); } delay(300); Serial.print("Ready.");}void loop() { // put your main code here, to run repeatedly:}帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我帮帮我
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被奈何桥头逗鬼编辑
，原因：
交嘉隶人，饮水堵源
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