phoenix.js

/**
 * This example is used to control a Lynxmotion Phoenix hexapod
 * via an Arduino Mega and DFRobot Mega Sensor Shield
 *
 * Robot
 * http://www.lynxmotion.com/c-117-phoenix.aspx
 * http://arduino.cc/en/Main/ArduinoBoardMegaADK
 * http://www.dfrobot.com/index.php?route=product/product&path=35_124&product_id=560
 *
 * You will want to update a couple of things for your robot:
 * 1. You can tweak your walk with the "lift", "h" and "s" objects.
 * 2. You can trim your servos by changing the offset values on each servo
 *
 */

var five = require("johnny-five"),
temporal = require("temporal"),
board, phoenix = { state: "sleep" },
easeIn = "inQuad",
easeOut = "outQuad",
easeInOut = "inOutQuad",

// This object describes the "leg lift" used in walking
lift = { femur: 30, tibia: -20 },

// This object contains the home positions of each
// servo in its forward, mid and rear position for
// walking.
h = {
  f: {
    c: [56, 70, 91],
    f: [116, 120, 119],
    t: [97, 110, 116]
  },
  m: {
    c: [70, 88, 109],
    f: [116, 117, 116],
    t: [102, 106, 104]
  },
  r: {
    c: [56, 70, 91],
    f: [116, 120, 119],
    t: [97, 110, 116]
  }
},

// This object contains our end effector positions for turns
t = {
  f: {
    c: [56, 70, 85 ],
    f: [121, 120, 119],
    t: [117, 110, 105]
  },
  m: {
    c: [73, 88, 105],
    f: [118, 117, 118],
    t: [107, 106, 107]
  },
  r: {
    c: [56, 70, 85 ],
    f: [121, 120, 119],
    t: [117, 110, 105]
  }
},

// This object contains the home positions of each
// servo for the seven steps in walk and crawl.
s = {
  f: {
    c: [56, 59, 65, 70, 76, 82, 91],
    f: [116, 117,119, 120, 120, 119, 119],
    t: [97, 101, 106, 110, 112, 114, 116]
  },
  m: {
    c: [70, 76, 82, 88, 94, 100, 109],
    f: [116, 119, 118, 117, 118, 117, 116],
    t: [102, 105, 106, 106, 108, 106, 104]
  },
  r: {
    c: [91, 82, 76, 70, 65, 59, 56],
    f: [119, 119,120, 120, 119, 117, 116],
    t: [116, 114, 112, 110, 106, 101, 97]
  }
},

// This object contains the sleep positions for our joints
l = {
  c: 90,
  f: 165,
  t: 150
};

board = new five.Board().on("ready", function() {

// Right front leg
phoenix.r1c = new five.Servo({pin:40, offset: 0, startAt: l.c, range: [50, 180], isInverted: true });
phoenix.r1f = new five.Servo({pin:39, offset: 0, startAt:  l.f, range: [25, 165] });
phoenix.r1t = new five.Servo({pin:38, offset: 0, startAt: l.t });
phoenix.r1 = new five.Servo.Array([ phoenix.r1c, phoenix.r1f, phoenix.r1t ]);

//Left front leg
phoenix.l1c = new five.Servo({pin:27, offset: 0, startAt: l.c, range: [50, 180] });
phoenix.l1f = new five.Servo({pin:26, offset: 0, startAt: l.f, range: [25, 165], isInverted: true });
phoenix.l1t = new five.Servo({pin:25, offset: 0, startAt: l.t, isInverted: true });
phoenix.l1 = new five.Servo.Array([ phoenix.l1c, phoenix.l1f, phoenix.l1t ]);

//Right mid leg
phoenix.r2c = new five.Servo({pin:49, offset: 0, startAt: l.c, range: [50, 130], isInverted: true });
phoenix.r2f = new five.Servo({pin:48, offset: 0, startAt: l.f, range: [25, 165] });
phoenix.r2t = new five.Servo({pin:47, offset: 0, startAt: l.t });
phoenix.r2 = new five.Servo.Array([ phoenix.r2c, phoenix.r2f, phoenix.r2t ]);

//Left mid leg
phoenix.l2c = new five.Servo({pin:23, offset: 0, startAt: l.c, range: [50, 130] });
phoenix.l2f = new five.Servo({pin:21, offset: 0, startAt: l.f, range: [25, 165], isInverted: true });
phoenix.l2t = new five.Servo({pin:20, offset: 0, startAt: l.t, isInverted: true });
phoenix.l2 = new five.Servo.Array([ phoenix.l2c, phoenix.l2f, phoenix.l2t ]);

//Right rear leg
phoenix.r3c = new five.Servo({pin:45, offset: 0, startAt: l.c, range: [50, 180]});
phoenix.r3f = new five.Servo({pin:44, offset: 0, startAt: l.f, range: [25, 165] });
phoenix.r3t = new five.Servo({pin:43, offset: 0, startAt: l.t });
phoenix.r3 = new five.Servo.Array([ phoenix.r3c, phoenix.r3f, phoenix.r3t ]);

//Left rear leg
phoenix.l3c = new five.Servo({pin:19, offset: 0, startAt: l.c, range: [50, 180], isInverted: true });
phoenix.l3f = new five.Servo({pin:18, offset: 0, startAt: l.f, range: [25, 165], isInverted: true });
phoenix.l3t = new five.Servo({pin:17, offset: 0, startAt: l.t, isInverted: true });
phoenix.l3 = new five.Servo.Array([ phoenix.l3c, phoenix.l3f, phoenix.l3t ]);

//Servos grouped by joints (used in stand)
phoenix.femurs = new five.Servo.Array([phoenix.r1f, phoenix.l1f, phoenix.r2f, phoenix.l2f, phoenix.r3f, phoenix.l3f]);
phoenix.tibia = new five.Servo.Array([phoenix.r1t, phoenix.l1t, phoenix.r2t, phoenix.l2t, phoenix.r3t, phoenix.l3t]);
phoenix.coxa = new five.Servo.Array([phoenix.r1c, phoenix.l1c, phoenix.r2c, phoenix.l2c, phoenix.r3c, phoenix.l3c]);
phoenix.innerCoxa = new five.Servo.Array([phoenix.r2c, phoenix.l2c]);
phoenix.outerCoxa = new five.Servo.Array([phoenix.r1c, phoenix.l1c, phoenix.r3c, phoenix.l3c]);

// Servos grouped by joints & leg pairs (used in row)
phoenix.frontCoxa = new five.Servo.Array([phoenix.r1c, phoenix.l1c]);
phoenix.frontFemur = new five.Servo.Array([phoenix.r1f, phoenix.l1f]);
phoenix.frontTibia = new five.Servo.Array([phoenix.r1t, phoenix.l1t]);
phoenix.midCoxa = new five.Servo.Array([phoenix.r2c, phoenix.l2c]);
phoenix.midFemur = new five.Servo.Array([phoenix.r2f, phoenix.l2f]);
phoenix.midTibia = new five.Servo.Array([phoenix.r2t, phoenix.l2t]);
phoenix.rearCoxa = new five.Servo.Array([phoenix.r3c, phoenix.l3c]);
phoenix.rearFemur = new five.Servo.Array([phoenix.r3f, phoenix.l3f]);
phoenix.rearTibia = new five.Servo.Array([phoenix.r3t, phoenix.l3t]);

phoenix.leftOuterCoxa = new five.Servo.Array([phoenix.l1c, phoenix.l3c]);
phoenix.rightOuterCoxa = new five.Servo.Array([phoenix.r1c, phoenix.r3c]);
phoenix.leftOuterFemur = new five.Servo.Array([phoenix.l1f, phoenix.l3f]);
phoenix.rightOuterFemur = new five.Servo.Array([phoenix.r1f, phoenix.r3f]);
phoenix.leftOuterTibia = new five.Servo.Array([phoenix.l1t, phoenix.l3t]);
phoenix.rightOuterTibia = new five.Servo.Array([phoenix.r1t, phoenix.r3t]);

phoenix.jointPairs = new five.Servo.Array([
  phoenix.frontCoxa, phoenix.frontFemur, phoenix.frontTibia,
  phoenix.midCoxa, phoenix.midFemur, phoenix.midTibia,
  phoenix.rearCoxa, phoenix.rearFemur, phoenix.rearTibia
]);

phoenix.joints = new five.Servo.Array([phoenix.coxa, phoenix.femurs, phoenix.tibia]);
phoenix.altJoints = new five.Servo.Array([phoenix.innerCoxa, phoenix.outerCoxa, phoenix.femurs, phoenix.tibia]);
phoenix.triJoints = new five.Servo.Array([phoenix.leftOuterCoxa, phoenix.r2c, phoenix.leftOuterFemur, phoenix.r2f, phoenix.leftOuterTibia, phoenix.r2t, phoenix.rightOuterCoxa, phoenix.l2c, phoenix.rightOuterFemur, phoenix.l2f, phoenix.rightOuterTibia, phoenix.l2t]);

phoenix.legs = new five.Servo.Array([phoenix.r1c, phoenix.r1f, phoenix.r1t, phoenix.l1c, phoenix.l1f, phoenix.l1t, phoenix.r2c, phoenix.r2f, phoenix.r2t, phoenix.l2c, phoenix.l2f, phoenix.l2t, phoenix.r3c, phoenix.r3f, phoenix.r3t, phoenix.l3c, phoenix.l3f, phoenix.l3t]);

var legsAnimation = new five.Animation(phoenix.legs);

// From sleep to stand
var stand = {
  target: phoenix.altJoints,
  duration: 500,
  loop: false,
  fps: 100,
  cuePoints: [0, 0.1, 0.3, 0.7, 1.0],
  oncomplete: function() {
    phoenix.state = "stand";
  },
  keyFrames: [
    [null, false, { degrees: h.m.c[1] }],
    [null, false, { degrees: h.f.c[1] }],
    [null, false, false, { degrees: h.f.f[1] + 20, easing: easeOut}, { degrees: h.f.f[1], easing: easeIn}],
    [null, { degrees: h.f.t[1]}, false, { degrees: h.f.t[1] }]
  ]
};

// From stand to sleep
var sleep = {
  duration: 500,
  cuePoints: [0, 0.5, 0.75, 1.0],
  fps: 100,
  easing: easeOut,
  target: phoenix.altJoints,
  oncomplete: function() {
    phoenix.state = "sleep";
  },
  keyFrames: [
    [null, null, false, { degrees: l.c, easing: easeOut }],
    [null, null, false, { degrees: l.c, easing: easeOut }],
    [null, { degrees: h.f.f[1] + 20, easing: easeOut }, { degrees: l.f, easing: easeInOut }],
    [null, false, { degrees: l.t, easing: easeInOut }]
  ]
};

// Wave right tibia
var waveRight = {
  duration: 1500,
  cuePoints: [0, 0.1, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0],
  target: phoenix.r1,
  oncomplete: function() {
    phoenix.state = "stand";
  },
  keyFrames: [
    [null, false, { degrees: 20, easing: easeInOut }, false, false, false, false, false, null, {copyDegrees: 0, easing: easeInOut} ], // r1c
    [null, { step: 55, easing: easeInOut }, false, false, false, false, false, false, { step: -55, easing: easeInOut }, {copyDegrees: 0, easing: easeInOut} ], // r1f
    [null, { degrees: 85, easing: easeInOut }, { degrees: 45, easing: easeInOut }, { step: -15, easing: easeInOut}, { step: 30, easing: easeInOut}, { copyDegrees: 3, easing: easeInOut}, { copyFrame: 4 }, { copyDegrees: 2, easing: easeInOut}, { copyFrame: 1 }, {copyDegrees: 0, easing: easeInOut} ]
  ]
};

// Wave left tibia
var waveLeft = {
  duration: 1500,
  cuePoints: [0, 0.1, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0],
  target: phoenix.l1,
  oncomplete: function() {
    phoenix.state = "stand";
  },
  keyFrames: [
    [null, false, { degrees: 20, easing: easeInOut }, false, false, false, false, false, { degrees: 52, easing: easeInOut }, {copyDegrees: 0, easing: easeInOut} ], // l1c
    [null, { step: 55, easing: easeInOut }, false, false, false, false, false, false, { step: -55, easing: easeInOut }, {copyDegrees: 0, easing: easeInOut} ], // l1f
    [null, { degrees: 85, easing: easeInOut }, { degrees: 45, easing: easeInOut }, { step: -15, easing: easeInOut}, { step: 30, easing: easeInOut}, { copyDegrees: 3, easing: easeInOut}, { copyFrame: 4 }, { copyDegrees: 2, easing: easeInOut}, { copyFrame: 1 }, {copyDegrees: 0, easing: easeInOut} ]
  ]
};

// Tripod gait
phoenix.run = function(dir) {
  var a = dir === "rev" ? 0 : 2,
    b = dir === "rev" ? 2 : 0;

  legsAnimation.enqueue({
    duration: 1000,
    cuePoints: [0, 0.25, 0.5, 0.75, 1.0],
    loop: true,
    fps: 100,
    onstop: function() { phoenix.att(); },
    oncomplete: function() { },
    keyFrames: [
      [ null, {degrees: h.f.c[1]}, {degrees: h.f.c[a]}, null, {degrees: h.f.c[b]}],
      [ null, {degrees: h.f.f[1]}, {degrees: h.f.f[a]}, { step: lift.femur, easing: easeOut }, {degrees: h.f.f[b], easing: easeIn}],
      [ null, {degrees: h.f.t[1]}, {degrees: h.f.t[a]}, { step: lift.tibia, easing: easeOut }, {degrees: h.f.t[b], easing: easeIn}],

      [ null, null, {degrees: h.f.c[b]}, {degrees: h.f.c[1]}, {degrees: h.f.c[a]}],
      [ null, { step: lift.femur, easing: easeOut }, {degrees: h.f.f[b], easing: easeIn}, {degrees: h.f.f[1]}, {degrees: h.f.f[a]}],
      [ null, { step: lift.tibia, easing: easeOut }, {degrees: h.f.t[b], easing: easeIn}, {degrees: h.f.t[1]}, {degrees: h.f.t[a]}],

      [ null, null, {degrees: h.m.c[b]}, {degrees: h.m.c[1]}, {degrees: h.m.c[a]}],
      [ null, { step: lift.femur, easing: easeOut }, {degrees: h.m.f[b], easing: easeIn}, {degrees: h.m.f[1]}, {degrees: h.m.f[a]}],
      [ null, { step: lift.tibia, easing: easeOut }, {degrees: h.m.t[b], easing: easeIn}, {degrees: h.m.t[1]}, {degrees: h.m.t[a]}],

      [ null, {degrees: h.m.c[1]}, {degrees: h.m.c[a]}, null, {degrees: h.m.c[b]}],
      [ null, {degrees: h.m.f[1]}, {degrees: h.m.f[a]}, { step: lift.femur, easing: easeOut }, {degrees: h.m.f[b], easing: easeIn}],
      [ null, {degrees: h.m.t[1]}, {degrees: h.m.t[a]}, { step: lift.tibia, easing: easeOut }, {degrees: h.m.t[b], easing: easeIn}],

      [ null, {degrees: h.r.c[1]}, {degrees: h.r.c[b]}, null, {degrees: h.r.c[a]}],
      [ null, {degrees: h.r.f[1]}, {degrees: h.r.f[b]}, { step: lift.femur, easing: easeOut }, {degrees: h.r.f[a], easing: easeIn}],
      [ null, {degrees: h.r.t[1]}, {degrees: h.r.t[b]}, { step: lift.tibia, easing: easeOut }, {degrees: h.r.t[a], easing: easeIn}],

      [ null, null, {degrees: h.r.c[a]}, {degrees: h.r.c[1]}, {degrees: h.r.c[b]}],
      [ null, { step: lift.femur, easing: easeOut }, {degrees: h.r.f[a], easing: easeIn}, {degrees: h.r.f[1]}, {degrees: h.r.f[b]}],
      [ null, { step: lift.tibia, easing: easeOut }, {degrees: h.r.t[a], easing: easeIn}, {degrees: h.r.t[1]}, {degrees: h.r.t[b]}],
    ]
  });
  return this;
};

// Two leg gait
var walk = {
  duration: 2000,
  cuePoints: [0, 0.071, 0.143, 0.214, 0.286, 0.357, 0.429, 0.5, 0.571, 0.643, 0.714, 0.786, 0.857, 0.929, 1],
  loop: true,
  loopback: 0.5,
  fps: 100,
  onstop: function() { phoenix.att(); },
  oncomplete: function() { },
  keyFrames: [
    [null, null, {degrees: s.f.c[5]}, null, null, null, null, {degrees: s.f.c[5]}, null, {degrees: s.f.c[0]}, null, null, null, null, {degrees: s.f.c[5]}], // r1c
    [null, { step: lift.femur, easing: easeOut }, {degrees: s.f.f[5], easing: easeIn}, null, null, null, null, {degrees: s.f.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.f.f[0], easing: easeIn}, null, null, null, null, {degrees: s.f.f[5]}],
    [null, { step: lift.tibia, easing: easeOut }, {degrees: s.f.t[5], easing: easeIn}, null, null, null, null, {degrees: s.f.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.f.t[0], easing: easeIn}, null, null, null, null, {degrees: s.f.t[5]}],

    [null, null, null, false, null, {degrees: s.f.c[2]}, null, {degrees: s.f.c[2]}, null, null, {degrees: s.f.c[5]}, null, {degrees: s.f.c[0]}, null, {degrees: s.f.c[2]}],
    [null, null, null, false, { step: lift.femur, easing: easeOut }, {degrees: s.f.f[2], easing: easeIn}, null, {degrees: s.f.f[2]}, null, null, {degrees: s.f.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.f.f[0], easing: easeIn}, null, {degrees: s.f.f[2]}],
    [null, null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.f.t[2], easing: easeIn}, null, {degrees: s.f.t[2]}, null, null, {degrees: s.f.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.f.t[0], easing: easeIn}, null, {degrees: s.f.t[2]}],

    [null, null, null, null, false, null, {degrees: s.m.c[1]}, {degrees: s.m.c[1]}, null, null, null, {degrees: s.m.c[5]}, null, {degrees: s.m.c[0]}, {degrees: s.m.c[1]}],
    [null, null, null, null, false, { step: lift.femur, easing: easeOut }, {degrees: s.m.f[1], easing: easeIn}, {degrees: s.m.f[1]}, null, null, null, {degrees: s.m.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.m.f[0], easing: easeIn}, {degrees: s.m.f[1]}],
    [null, null, null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.m.t[1], easing: easeIn}, {degrees: s.m.t[1]}, null, null, null, {degrees: s.m.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.m.t[0], easing: easeIn}, {degrees: s.m.t[1]}],

    [null, false, null, {degrees: s.m.c[4]}, null, null, null, {degrees: s.m.c[4]}, {degrees: s.m.c[5]}, null, {degrees: s.m.c[0]}, null, null, null, {degrees: s.m.c[4]}],
    [null, false, { step: lift.femur, easing: easeOut }, {degrees: s.m.f[4], easing: easeIn}, null, null, null, {degrees: s.m.f[4]}, {degrees: s.m.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.m.f[0], easing: easeIn}, null, null, null, {degrees: s.m.f[4]}],
    [null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.m.t[4], easing: easeIn}, null, null, null, {degrees: s.m.t[4]}, {degrees: s.m.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.m.t[0], easing: easeIn}, null, null, null, {degrees: s.m.t[4]}],

    [null, null, false, null, {degrees: s.r.c[3]}, null, null, {degrees: s.r.c[3]}, null, {degrees: s.r.c[5]}, null, {degrees: s.r.c[0]}, {degrees: s.r.c[1]}, null, {degrees: s.r.c[3]}],
    [null, null, false, { step: lift.femur, easing: easeOut }, {degrees: s.r.f[3], easing: easeIn}, null, null, {degrees: s.r.f[3]}, null, {degrees: s.r.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.r.f[0], easing: easeIn}, {degrees: s.r.f[1]}, null, {degrees: s.r.f[3]}],
    [null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.r.t[3], easing: easeIn}, null, null, {degrees: s.r.t[3]}, null, {degrees: s.r.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.r.t[0], easing: easeIn}, {degrees: s.r.t[1]}, null, {degrees: s.r.t[3]}],

    [null, null, null, null, null, false, null, {degrees: s.r.c[0]}, null, null, null, null, {degrees: s.r.c[5]}, null, {degrees: s.r.c[0]}],
    [null, null, null, null, null, false, { step: lift.femur, easing: easeOut }, {degrees: s.r.f[0], easing: easeIn}, null, null, null, null, {degrees: s.r.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.r.f[0], easing: easeIn}],
    [null, null, null, null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.r.t[0], easing: easeIn}, null, null, null, null, {degrees: s.r.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.r.t[0], easing: easeIn}]
  ]
};

// One leg gait
var crawl = {
  duration: 2000,
  cuePoints: [0, 0.071, 0.143, 0.214, 0.286, 0.357, 0.429, 0.5, 0.542, 0.583, 0.625, 0.667, 0.708, 0.75, 0.792, 0.833, 0.875, 0.917, 0.958, 1],
  loop: true,
  loopback: 0.5,
  fps: 100,
  onstop: function() { phoenix.att(); },
  oncomplete: function() { },
  keyFrames: [
    [null, null, {degrees: s.f.c[5]}, null, null, null, null, {degrees: s.f.c[5]}, null, {degrees: s.f.c[0]}, null, null, null, null, null, null, null, null, null, {degrees: s.f.c[5]}],
    [null, { step: lift.femur, easing: easeOut }, {degrees: s.f.f[5], easing: easeIn}, null, null, null, null, {degrees: s.f.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.f.f[0], easing: easeIn}, null, null, null, null, null, null, null, null, null, {degrees: s.f.f[5]}],
    [null, { step: lift.tibia, easing: easeOut }, {degrees: s.f.t[5], easing: easeIn}, null, null, null, null, {degrees: s.f.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.f.t[0], easing: easeIn}, null, null, null, null, null, null, null, null, null, {degrees: s.f.t[5]}],

    [null, null, null, false, null, {degrees: s.f.c[2]}, null, {degrees: s.f.c[2]}, null, null, null, null, null, {degrees: s.f.c[5]}, null, {degrees: s.f.c[0]}, null, null, null, {degrees: s.f.c[2]}],
    [null, null, null, false, { step: lift.femur, easing: easeOut }, {degrees: s.f.f[2], easing: easeIn}, null, {degrees: s.f.f[2]}, null, null, null, null, null, {degrees: s.f.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.f.f[0], easing: easeIn}, null, null, null, {degrees: s.f.f[2]}],
    [null, null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.f.t[2], easing: easeIn}, null, {degrees: s.f.t[2]}, null, null, null, null, null, {degrees: s.f.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.f.t[0], easing: easeIn}, null, null, null, {degrees: s.f.t[2]}],

    [null, null, null, null, false, null, {degrees: s.m.c[1]}, {degrees: s.m.c[1]}, null, null, null, null, null, null, null, {degrees: s.m.c[5]}, null, {degrees: s.m.c[0]}, null, {degrees: s.m.c[1]}],
    [null, null, null, null, false, { step: lift.femur, easing: easeOut }, {degrees: s.m.f[1], easing: easeIn}, {degrees: s.m.f[1]}, null, null, null, null, null, null, null, {degrees: s.m.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.m.f[0], easing: easeIn}, null, {degrees: s.m.f[1]}],
    [null, null, null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.m.t[1], easing: easeIn}, {degrees: s.m.t[1]}, null, null, null, null, null, null, null, {degrees: s.m.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.m.t[0], easing: easeIn}, null, {degrees: s.m.t[1]}],

    [null, false, null, {degrees: s.m.c[4]}, null, null, null, {degrees: s.m.c[4]}, null, {degrees: s.m.c[5]}, null, {degrees: s.m.c[0]}, null, null, null, null, null, null, null, {degrees: s.m.c[4]}],
    [null, false, { step: lift.femur, easing: easeOut }, {degrees: s.m.f[4], easing: easeIn}, null, null, null, {degrees: s.m.f[4]}, null, {degrees: s.m.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.m.f[0], easing: easeIn}, null, null, null, null, null, null, null, {degrees: s.m.f[4]}],
    [null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.m.t[4], easing: easeIn}, null, null, null, {degrees: s.m.t[4]}, null, {degrees: s.m.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.m.t[0], easing: easeIn}, null, null, null, null, null, null, null, {degrees: s.m.t[4]}],

    [null, null, false, null, {degrees: s.r.c[3]}, null, null, {degrees: s.r.c[3]}, null, null, null, {degrees: s.r.c[5]}, null, {degrees: s.r.c[0]}, null, null, null, null, null, {degrees: s.r.c[3]}],
    [null, null, false, { step: lift.femur, easing: easeOut }, {degrees: s.r.f[3], easing: easeIn}, null, null, {degrees: s.r.f[3]}, null, null, null, {degrees: s.r.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.r.f[0], easing: easeIn}, null, null, null, null, null, {degrees: s.r.f[3]}],
    [null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.r.t[3], easing: easeIn}, null, null, {degrees: s.r.t[3]}, null, null, null, {degrees: s.r.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.r.t[0], easing: easeIn}, null, null, null, null, null, {degrees: s.r.t[3]}],

    [null, null, null, null, null, false, null, {degrees: s.r.c[0]}, null, null, null, null, null, null, null, null, null, {degrees: s.r.c[5]}, null, {degrees: s.r.c[0]}],
    [null, null, null, null, null, false, { step: lift.femur, easing: easeOut }, {degrees: s.r.f[0], easing: easeIn}, null, null, null, null, null, null, null, null, null, {degrees: s.r.f[5]}, { step: lift.femur, easing: easeOut }, {degrees: s.r.f[0], easing: easeIn}],
    [null, null, null, null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: s.r.t[0], easing: easeIn}, null, null, null, null, null, null, null, null, null, {degrees: s.r.t[5]}, { step: lift.tibia, easing: easeOut }, {degrees: s.r.t[0], easing: easeIn}]
  ]
};

// Wave gait
phoenix.row = function(dir) {
  var a = dir === "rev" ? 2 : 0,
    b = dir === "rev" ? 0 : 2;

  legsAnimation.enqueue({
    target: phoenix.jointPairs,
    duration: 1500,
    cuePoints: [0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.85, 1.0],
    loop: true,
    fps: 100,
    onstop: function() { phoenix.att(); },
    oncomplete: function() { },
    keyFrames: [

      [null, null, null, null, false, null, {degrees: h.f.c[a]}, false, {degrees: h.f.c[1]}, {degrees: h.f.c[b]}],
      [null, null, null, null, false, { step: lift.femur, easing: easeOut }, {degrees: h.f.f[a]}, false, {degrees: h.f.f[1]}, {degrees: h.f.f[b]}],
      [null, null, null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: h.f.t[a]}, false, {degrees: h.f.t[1]}, {degrees: h.f.t[b]}],

      [null, null, false, null, {degrees: h.m.c[a]}, null, null, false, {degrees: h.m.c[1]}, {degrees: h.m.c[b]}],
      [null, null, false, { step: lift.femur, easing: easeOut }, {degrees: h.m.f[a]}, null, null, false, {degrees: h.m.f[1]}, {degrees: h.m.f[b]}],
      [null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: h.m.t[a]}, null, null, false, {degrees: h.m.t[1]}, {degrees: h.m.t[b]}],

      [null, null, {degrees: h.r.c[b]}, null, null, null, null, false, {degrees: h.r.c[1]}, {degrees: h.r.c[a]}],
      [null, { step: lift.femur, easing: easeOut },  {degrees: h.r.f[b]}, null, null, null, null, false, {degrees: h.r.f[1]}, {degrees: h.r.f[a]}],
      [null, { step: lift.tibia, easing: easeOut }, {degrees: h.r.t[b]}, null, null, null, null, false, {degrees: h.r.t[1]}, {degrees: h.r.t[a]}],

    ]
  });
  return this;
};

// Show gait with COG outside of polygon formed by legs
phoenix.badRow = function(dir) {
  var a = dir === "rev" ? 2 : 0,
    b = dir === "rev" ? 0 : 2;

  legsAnimation.enqueue({
    target: phoenix.jointPairs,
    duration: 1500,
    cuePoints: [0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.85, 1.0],
    loop: true,
    fps: 100,
    onstop: function() { phoenix.att(); },
    oncomplete: function() { },
    keyFrames: [
      [null, null, {degrees: h.f.c[a]}, null, null, null, null, false, {degrees: h.f.c[1]}, {degrees: h.f.c[b]}],
      [null, { step: lift.femur, easing: easeOut },  {degrees: h.f.f[a]}, null, null, null, null, false, {degrees: h.f.f[1]}, {degrees: h.f.f[b]}],
      [null, { step: lift.tibia, easing: easeOut }, {degrees: h.f.t[a]}, null, null, null, null, false, {degrees: h.f.t[1]}, {degrees: h.f.t[b]}],

      [null, null, false, null, {degrees: h.m.c[a]}, null, null, false, {degrees: h.m.c[1]}, {degrees: h.m.c[b]}],
      [null, null, false, { step: lift.femur, easing: easeOut }, {degrees: h.m.f[a]}, null, null, false, {degrees: h.m.f[1]}, {degrees: h.m.f[b]}],
      [null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: h.m.t[a]}, null, null, false, {degrees: h.m.t[1]}, {degrees: h.m.t[b]}],

      [null, null, null, null, false, null, {degrees: h.r.c[b]}, false, {degrees: h.r.c[1]}, {degrees: h.r.c[a]}],
      [null, null, null, null, false, { step: lift.femur, easing: easeOut }, {degrees: h.r.f[b]}, false, {degrees: h.r.f[1]}, {degrees: h.r.f[a]}],
      [null, null, null, null, false, { step: lift.tibia, easing: easeOut }, {degrees: h.r.t[b]}, false, {degrees: h.r.t[1]}, {degrees: h.r.t[a]}],
    ]
  });
  return this;
};

// Tripod turn
phoenix.turn = function(dir) {
  var a = dir === "left" ? 2 : 0,
    b = dir === "left" ? 0 : 2;

  legsAnimation.enqueue({
    duration: 1500,
    fps: 100,
    cuePoints: [0, 0.25, 0.5, 0.625, 0.75, 0.875, 1.0],
    loop: true,
    loopback: 0.5,
    onstop: function() { phoenix.att(); },
    keyFrames: [
      [ null, null, {degrees: t.f.c[a]}, null, {degrees: t.f.c[b]}, null, {degrees: t.f.c[a]}],
      [ null, null, {degrees: t.f.f[a]}, { step: lift.femur, easing: easeOut }, {degrees: t.f.f[b]}, null, {degrees: t.f.f[a]}],
      [ null, null, {degrees: t.f.t[a]}, { step: lift.tibia, easing: easeOut }, {degrees: t.f.t[b]}, null, {degrees: t.f.t[a]}],

      [ null, null, {degrees: t.f.c[a]}, null, {degrees: t.f.c[b]}, null, {degrees: t.f.c[a]}],
      [ null, { step: lift.femur, easing: easeOut }, {degrees: t.f.f[a], easing: easeIn}, null, {degrees: t.f.f[b], easing: easeIn}, { step: lift.femur, easing: easeOut }, {degrees: t.f.f[a], easing: easeIn}],
      [ null, { step: lift.tibia, easing: easeOut }, {degrees: t.f.t[a], easing: easeIn}, null, {degrees: t.f.t[b], easing: easeIn}, { step: lift.tibia, easing: easeOut }, {degrees: t.f.t[a], easing: easeIn}],

      [ null, null, {degrees: t.m.c[b]}, null, {degrees: t.m.c[a]}, null, {degrees: t.m.c[b]}],
      [ null, { step: lift.femur, easing: easeOut }, {degrees: t.m.f[b], easing: easeIn}, null, {degrees: t.m.f[a], easing: easeIn}, { step: lift.femur, easing: easeOut }, {degrees: t.m.f[b], easing: easeIn}],
      [ null, { step: lift.tibia, easing: easeOut }, {degrees: t.m.t[b], easing: easeIn}, null, {degrees: t.m.t[a], easing: easeIn}, { step: lift.tibia, easing: easeOut }, {degrees: t.m.t[b], easing: easeIn}],

      [ null, null, {degrees: t.m.c[b]}, null, {degrees: t.m.c[a]}, null, {degrees: t.m.c[b]}],
      [ null, null, {degrees: t.m.f[b]}, { step: lift.femur, easing: easeOut }, {degrees: t.m.f[a]}, null, {degrees: t.m.f[b]}],
      [ null, null, {degrees: t.m.t[b]}, { step: lift.tibia, easing: easeOut }, {degrees: t.m.t[a]}, null, {degrees: t.m.t[b]}],

      [ null, null, {degrees: t.r.c[b]}, null, {degrees: t.r.c[a]}, null, {degrees: t.r.c[b]}],
      [ null, null, {degrees: t.r.f[b]}, { step: lift.femur, easing: easeOut }, {degrees: t.r.f[a]}, null, {degrees: t.r.f[b]}],
      [ null, null, {degrees: t.r.t[b]}, { step: lift.tibia, easing: easeOut }, {degrees: t.r.t[a]}, null, {degrees: t.r.t[b]}],

      [ null, null, {degrees: t.r.c[b]}, null, {degrees: t.r.c[a]}, null, {degrees: t.r.c[b]}],
      [ null, { step: lift.femur, easing: easeOut }, {degrees: t.r.f[b], easing: easeIn}, null, {degrees: t.r.f[a], easing: easeIn}, { step: lift.femur, easing: easeOut }, {degrees: t.r.f[b], easing: easeIn}],
      [ null, { step: lift.tibia, easing: easeOut }, {degrees: t.r.t[b], easing: easeIn}, null, {degrees: t.r.t[a], easing: easeIn}, { step: lift.tibia, easing: easeOut }, {degrees: t.r.t[b], easing: easeIn}]
    ]
  });

  return this;

};

// Return phoenix to home position
phoenix.att = function() {
  var most = 0, grouped, mostIndex, ani, work = [
    { name: "r1", offset: 0, home: h.f.f[1], thome: h.f.t[1], chome: h.f.c[1]},
    { name: "r2", offset: 0, home: h.m.f[1], thome: h.m.t[1], chome: h.m.c[1] },
    { name: "r3", offset: 0, home: h.r.f[1], thome: h.r.t[1], chome: h.r.c[1] },
    { name: "l1", offset: 0, home: h.f.f[1], thome: h.f.t[1], chome: h.f.c[1] },
    { name: "l2", offset: 0, home: h.m.f[1], thome: h.m.t[1], chome: h.m.c[1] },
    { name: "l3", offset: 0, home: h.r.f[1], thome: h.r.t[1], chome: h.r.c[1] }
  ];

  // Loop through legs and find how far each is from "home"
  work.forEach(function(leg, i) {
    work[i].offset = Math.abs(phoenix[leg.name+"f"].last.reqDegrees - leg.home);
  });

  var moving = _.max(work, function(leg){ return leg.offset; });

  if (moving.name === "r2" || moving.name === "l1" || moving.name === "l3") {
    grouped = [ [1, 3, 5], [0, 2, 4] ];
  } else {
    grouped = [ [0, 2, 4], [1, 3, 5] ];
  }

  grouped.forEach(function(group, i) {
    group.forEach(function(leg, j) {
      temporal.queue([
        {
          delay: 500*i,
          task: function() {
            phoenix[work[leg].name+"f"].to(work[leg].home + lift.femur);
            phoenix[work[leg].name+"t"].to(work[leg].thome + lift.tibia);
          }
        },
        {
          delay: 100,
          task: function() {
            phoenix[work[leg].name+"c"].to(work[leg].chome);
          }
        },
        {
          delay: 100,
          task: function() {
            phoenix[work[leg].name+"f"].to(work[leg].home);
            phoenix[work[leg].name+"t"].to(work[leg].thome);
          }
        }
      ]);
    });
  });
  phoenix.state = "stand";
};

phoenix.sleep = function() {
  legsAnimation.enqueue(sleep);
};

phoenix.walk = function() {
  legsAnimation.enqueue(walk);
};

phoenix.crawl = function() {
  legsAnimation.enqueue(crawl);
};

phoenix.waveLeft = function() {
  legsAnimation.enqueue(waveLeft);
};

phoenix.waveRight = function() {
  legsAnimation.enqueue(waveRight);
};

phoenix.stand = function() {
  legsAnimation.enqueue(stand);
};

phoenix.stop = function() {
  legsAnimation.stop();
};

// Inject the `ph` object into
// the Repl instance's context
// allows direct command line access
this.repl.inject({
   ph: phoenix
});

});