v2.1.1

Minor enhancement:

• The drawback phase of walking now has a sinusoid arc into the ground to force the robot to push itself up. (creates a jump-like action).

v2.1.0

Major enhancements:

• Trot walking gait added
  • Steps follow a cosine curve and the amplitude/period of the cure is configurable in Config.h
  • Walking speed can be modified in Config.h

Minor enhancements:

• Kinematics engine unchanged except that the (0, 0) x-y position is now under the shoulder, not the bearing; writing a 0, 0 position to the foot will cause the leg to stay straight

v2.0.0

General motor functionality. All the library does now is the calculations, nothing more (like applying angle constraints, calculating the final angles relative to the zero position, etc.). Using the library is completely different, with the only link between it and your program being an array of motors (motors is a struct) whose characteristics are accessed and modified. It is up to you to parse the data and apply the angles accordingly, which makes the library much more usable for different robot configurations.

v1.0

Seems like a stable release. All calculations have been tested and are accurate and produce consistent results. Interpolation across different positions is working well too, with commit e876aae, which helped to create stable, smooth movements.