Customize Gait Pattern for Bittle

@Harry Xu For a gait you can only change the speed by changing the number of frames. So to increase the movement speed, lower the number of frames and vice versa. You will notice the same approach in the OpenCat Instincs.h file. The Bittle run has less frames than the walk gait.

For Behaviors like the push up this is different, because you can change the motor speed in the Instincts.h.

@Gero Gero, sorry to bother you again with some new questions. I am studying the code you provided and want to learn the knowledge behind your calculation from the input numbers to the final gait. I saw there're a bunch of equations that form the longitudinal and vertical movement, then you use these values and create angles for different legs or arms. So could you please help me explain what's behind a little bit so I can better understand all the processes you've made. Thanks!

@Harry Xu Basically you can divide the movement into two parts: the horizontal movement (blue) and the vertical movement (orange) of the paw. This is mostly what you see, when you start the script. The vertical movement is a cosine and 0 and the horizontal movement is a piecewise defined sine. The x-axis is the number of the frame. This pattern is the same for all four legs, the only difference is, that each leg starts at a different frame. This is what is called the phase shift and it's [0, pi/2, pi, 3*pi/2] for the legs [Right Arm, Right Leg, Left Arm, Left Leg]. buildGait() generates the plot and functions below which will then be handed over to the kinematic model. As you can see the forward movement (lifted paw) happens in 25 % of the time for one period (leg -1 to leg -1). I hope this makes a few things a little bit clearer.