Understanding the format of a behavior: trigger axis

[durka]

The bf behavior is defined as:

OpenCat/WriteInstinct/InstinctBittle.h

Lines 599 to 610 in f1013ce

	const char bf[] PROGMEM = {
	-8, 0, 0, 1,
	5, 8, 1,
	0, 0, 0, 0, 0, 0, 0, 0, 75, 75, 75, 75, -55, -55, -40, -40, 10, 0, 0, 0,
	0, 0, 0, 0, 0, 0, 0, 0, 30, 30, -20, -20, -55, -55, 60, 60, 0, 4, 0, 0,
	0, 0, 0, 0, 0, 0, 0, 0, 30, 30, 5, 5, 60, 60, 40, 40, 0, 2, 0, 0,
	0, 0, 0, 0, 0, 0, 0, 0, 25, 25, 45, 45, 60, 60, 35, 35, 0, 1, 0, 0,
	0, 0, 0, 0, 0, 0, 0, 0, 60, 60, 45, 45, 60, 60, 30, 30, 0, 0, 1,-10,
	0, 0, 0, 0, 0, 0, 0, 0, 60, 60, 110, 110, -55, -55, 100, 100, 0, 3, 0,127,
	0, 0, 0, 0, 0, 0, 0, 0, -20, -20, 100, 100, -75, -75, -60, -60, 0, 3, 0, 0,
	0, 0, 0, 0, 0, 0, 0, 0, 45, 45, 127, 127, 0, 0, -70, -70, 0, 3, 0, 0,
	};

If I understand correctly, the fifth frame is triggered by a pitch angle of -10 degrees. The sixth frame seems to have the trigger axis set to zero (i.e. no trigger axis) but there is an angle value. It seems that the 127 will never be read because the axis is tested first and you can't trigger on yaw:

OpenCat/OpenCat.ino

Lines 740 to 742 in f1013ce

	if (motion.dutyAngles[18 + c * frameSize]) {
	int triggerAxis = motion.dutyAngles[18 + c * frameSize];
	int triggerAngle = motion.dutyAngles[19 + c * frameSize];

Is this meant to be ignored, or an error, or do I misinterpret the format?

[borntoleave]

The parameters for the bf (backflip) skill may be different for each model due to the inconsistency of many factors, like calibration and surface friction. As far as I tested on my end, most of the models can complete a backflip. Since you may need to tune the parameters by yourself, I just left a few non-functional residues during experiments as is.

…

On Sun, Dec 26, 2021 at 2:01 PM Alex Burka ***@***.***> wrote: The bf behavior is defined as: https://github.com/PetoiCamp/OpenCat/blob/f1013cece692d6ff9d86577a7216416f9587aa2d/WriteInstinct/InstinctBittle.h#L599-L610 If I understand correctly, the fifth frame is triggered by a pitch angle of -10 degrees. The sixth frame seems to have the trigger axis set to zero (i.e. no trigger axis) but there is an angle value. It seems that the 127 will never be read because the axis is tested first and you can't trigger on yaw: https://github.com/PetoiCamp/OpenCat/blob/f1013cece692d6ff9d86577a7216416f9587aa2d/OpenCat.ino#L740-L742 Is this meant to be ignored, or an error, or do I misinterpret the format? — Reply to this email directly, view it on GitHub <#13>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACKLZGCD5W5SNG2QA7GYJBDUS2VTBANCNFSM5KYR3DGA> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

-- ~~ Rongzhong Li, PhD http://borntoleave.github.io

[durka]

OK, so indeed that 127 doesn't do anything but doesn't hurt anything by being there. Thanks for confirming!