% Copyright 2007 - Neil Desmond

% Matlab code for plotting length and width factor per leg pivot angle

% March 25, 2007

clear all
close all

% for length:

r1 = (1-2*atan(1/9)/pi)/2;
%a1 = 0:0.01:pi*r1;
a1 = 0:0.01:pi/2;
b1 = sqrt(41/2)*(sin((pi*r1)-a1));

figure(1)
hold on
axis([0 90 0 5])
title('Length Factor per Leg Pivot Angle')
xlabel('Leg Pivot Angle (degrees)')
ylabel('Length Factor')
grid
plot(180*a1/pi,b1)

text(43.5,-0.12,'45')
set(gcf,'DefaultTextColor','green')
text(52,b1(uint8(100*pi/4)+1),num2str(b1(uint8(100*pi/4)+1),3))
set(gcf,'DefaultTextColor','red')
text(63,b1(uint8(100*pi/3)+1),num2str(b1(uint8(100*pi/3)+1),3))
set(gcf,'DefaultTextColor','blue')
text(90-180*atan(1/9)/pi-2,-0.12,num2str(90-180*atan(1/9)/pi,4))

plot(0,b1(uint8(100*pi/4)+1),'gx')
plot((2:43),b1(uint8(100*pi/4)+1).*ones(1,42),'g')

plot(0,b1(uint8(100*pi/3)+1),'rx')
plot((2:58),b1(uint8(100*pi/3)+1).*ones(1,57),'r')

stem(45,b1(uint8(100*pi/4)+1),'g.--')
stem(60,b1(uint8(100*pi/3)+1),'r.--')

% for width:

r2 = (1-2*atan(1/7)/pi)/2;
%a2 = 0:0.01:pi*r2;
a2 = 0:0.01:pi/2;
b2 = 5*sqrt(2)*(sin((pi*r2)-a2))/2;

figure(2)
hold on
axis([0 90 0 5])
title('Width Factor per Leg Pivot Angle')
xlabel('Leg Pivot Angle (degrees)')
ylabel('Width Factor')
grid
plot(180*a2/pi,b2)

text(43.5,-0.12,'45')
set(gcf,'DefaultTextColor','green')
text(52,b2(uint8(100*pi/4)+1),num2str(b2(uint8(100*pi/4)+1),3))
set(gcf,'DefaultTextColor','red')
text(63,b2(uint8(100*pi/3)+1),num2str(b2(uint8(100*pi/3)+1),3))
set(gcf,'DefaultTextColor','blue')
text(90-180*atan(1/7)/pi,-0.12,num2str(90-180*atan(1/7)/pi,4))

plot(0,b2(uint8(100*pi/4)+1),'gx')
plot((2:43),b2(uint8(100*pi/4)+1).*ones(1,42),'g')

plot(0,b2(uint8(100*pi/3)+1),'rx')
plot((2:58),b2(uint8(100*pi/3)+1).*ones(1,57),'r')

stem(45,b2(uint8(100*pi/4)+1),'g.--')
stem(60,b2(uint8(100*pi/3)+1),'r.--')