>>1003
Starting off controlling the limbs with pretty basic controls: when joystick axis is off center the limb moves. Lets say hypothetically x axis has range 0-2 where 1 is in the middle. If it is smaller than 0.95 move the armpit up, larger than 1.05 move the armpit down. Needs a bit of a deadzone to prevent accidental movements. Will then add speed, so the further along the axis the joystick is pushed, the more power a motor gets. The sliding base uses the same principle as a joint encoder (gutted servo save for the potentiometer inside).
Stage 2: will be implementing a deadman switch (joystick trigger) and having arm positions proportional to joystick position. So if armpit encoder has range 0-1, divide x axis value in half and have code automagically move the motors until the encoder value is close to the joystick value. And of course do motion-smoothing with the speed.
Stage 3: pre-programmed sequences like punching, waving, etc
Already have some code for automatic positioning hashed out (but will be re-writing for efficiency), as the plan is to make this a crab-centaur gundam that can walk and scoot around on its bum. Need to keep the motor drivers separated from the logic circuits as the motors generage enough EMF to temporarily disable the logic circuits and cause the control program to crash. Using a 3500lb winch as the tread drive motor :D