diff --git a/walkin-car-control-panel.ino b/walkin-car-control-panel.ino new file mode 100644 index 0000000..2d5a63e --- /dev/null +++ b/walkin-car-control-panel.ino @@ -0,0 +1,246 @@ +#include // for the mpu +// the starred points vary the speed of the system +// here we define the global variables +int trigger =9; // a digital pin +int echo =10; // a digital pin +int sonarmotor =11; // a digital pin +const int MPU=0*68; +int16_t AcX,AcY,AcZ,TmpGyX,TmpGyY,TmpGyZ; +int gear1speed=255; // speed of gear1 setup, can be changed----- changed to set motor rpm ----* +int gear2speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm ----* +int gear3speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm ----* +int gear4speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm ----* +int gear1enable=19; // an analog pin +int gear2enable=20; // an analog pin +int gear3enable=21; // an analog pin +int gear4enable=22; // an analog pin +int gear11=5; +int gear12=6; +int gear21=7; +int gear22=8; +int gear31=12; +int gear32=13; +int gear41=14; +int gear42=15; +int indicator1=23; // an analog pin +int indicator2=24; // an analog pin +int headlight=25; // an analog pin +int backlight=26; // an analog pin +boolean headlightflag=false; // watches if headlight is previously on or off +void setup() { + // put your setup code here, to run once: + pinMode(sonarmotor,OUTPUT); + pinMode(trigger,OUTPUT); + pinMode(echo,INPUT); + Wire.begin(); + Wire.beginTransmission(MPU); + Wire.write(0); + Wire.endTransmission(true); + Serial.begin(9600); + pinMode(gear1speed,OUTPUT); + pinMode(gear2speed,OUTPUT); + pinMode(gear3speed,OUTPUT); + pinMode(gear4speed,OUTPUT); + pinMode(gear1enable,OUTPUT); + pinMode(gear2enable,OUTPUT); + pinMode(gear3enable,OUTPUT); + pinMode(gear4enable,OUTPUT); + pinMode(gear11,OUTPUT); + pinMode(gear12,OUTPUT); + pinMode(gear21,OUTPUT); + pinMode(gear22,OUTPUT); + pinMode(gear31,OUTPUT); + pinMode(gear32,OUTPUT); + pinMode(gear41,OUTPUT); + pinMode(gear42,OUTPUT); +} +double angleis() // this controls the angle of rotation of th emotor controlling the SONAR untrasonic sensor +{ + digitalWrite(sonarmotor, HIGH); + delay(1000); // based on rpm + sonarmotor+= sonarmotor; + if (sonarmotor==360) + sonarmotor=0; + return sonarmotor; +} +void sonar() // here we define how our vehicle understands it's surroundings by SONAR system +{ + double angle= angleis(); + long duration, distance; + double xposition ,yposition; + digitalWrite(trigger, LOW); + delay(2); + digitalWrite(trigger, HIGH); + delay(10); + digitalWrite(trigger, LOW); + duration= pulseIn(echo, HIGH); + distance= duration*2*29.1; + // now we divide the planes into four quadrants + if(angle<=90) + { + xposition=cos(angle); + yposition=sin(angle); + } + else if(angle>90 && angle<=180) + { + xposition=sin(angle); + yposition=cos(angle); + } + + else if(angle>180 && xposition<=270) + { + xposition=sin(angle); + yposition=cos(angle); + } + else if(angle>270 && angle<=360) + { + xposition=cos(angle); + yposition=sin(angle); + } + +} +void gpu() // here we code the gpu +{ + Wire.beginTransmission(MPU); + Wire.write(0*3B); + Wire.endTransmission(false); + Wire.requestFrom(MPU,12,true); + AcX=Wire.read()<<81 Wire.read(); + AcY=Wire.read()<<81 Wire.read(); + AcZ=Wire.read()<<81 Wire.read(); + GyX=Wire.read()<<81 Wire.read(); + GyY=Wire.read()<<81 Wire.read(); + GyZ=Wire.read()<<81 Wire.read(); + Serial.print("Accelerometer reading:-"); + Serial.print("X or movement sideways is :-"); + Serial.println(AcX); + Serial.print("Y or movement forward or backward is :-"); + Serial.println(AcY); + Serial.print("Z or movement upwards or downwards is :-"); + Serial.println(AcZ); + delay(333); + +} +void forward() // here we define how our vehicle goes forward +{ + analogWrite(gear1enable,gear1speed); + analogWrite(gear2enable,gear2speed); + analogWrite(gear3enable,gear3speed); + analogWrite(gear4enable,gear4speed); + digitalWrite(gear11,HIGH); + digitalWrite(gear12,LOW); + digitalWrite(gear41,HIGH); + digitalWrite(gear42,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear21,HIGH); + digitalWrite(gear22,LOW); + digitalWrite(gear31,HIGH); + digitalWrite(gear32,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* +} +void backward() // here we define how our vehicle goes backward +{ + analogWrite(gear1enable,gear1speed); + analogWrite(gear2enable,gear2speed); + analogWrite(gear3enable,gear3speed); + analogWrite(gear4enable,gear4speed); + analogWrite(backlight,HIGH); // turning on backlight + digitalWrite(gear11,LOW); + digitalWrite(gear12,HIGH); + digitalWrite(gear41,LOW); + digitalWrite(gear42,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear21,LOW); + digitalWrite(gear22,HIGH); + digitalWrite(gear31,LOW); + digitalWrite(gear32,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + analogWrite(backlight,LOW); // turning indicator off +} +void rightturn() // here we define how our vehicle gradually rotates right +{ + analogWrite(gear1enable,gear1speed); + analogWrite(gear2enable,gear2speed); + analogWrite(gear3enable,gear3speed); + analogWrite(gear4enable,gear4speed); + analogWrite(indicator2,HIGH); // turning the indicator on + digitalWrite(gear11,HIGH); + digitalWrite(gear12,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear41,LOW); + digitalWrite(gear42,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear21,LOW); + digitalWrite(gear22,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear31,HIGH); + digitalWrite(gear32,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + analogWrite(indicator1, HIGH); // turning the indicator off +} +void leftturn() // here we define how our vehicle gradually rotates left +{ + analogWrite(gear1enable,gear1speed); + analogWrite(gear2enable,gear2speed); + analogWrite(gear3enable,gear3speed); + analogWrite(gear4enable,gear4speed); + analogWrite(indicator1,HIGH); // turning the indicator on + digitalWrite(gear11,LOW); + digitalWrite(gear12,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear41,HIGH); + digitalWrite(gear42,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear21,HIGH); + digitalWrite(gear22,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear31,LOW); + digitalWrite(gear32,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + analogWrite(indicato12,LOW); // turning the indicator off +} +void light() // here we define the lights and indicators +{ + Serial.print("You want normal lighting up or you want all the lights to turn on?"); + if(Serial,available()>0) + Serial.readString(a); + if(a=="normal") + analogWrite(headlight,HIGH); + else if(a=="all") + { + analogWrite(headlight,HIGH); + analogWrite(indicator1,HIGH); + analogWrite(indicator2,HIGH); + analogWrite(backlight,HIGH); + } +} +void loop() { + // put your main code here, to run repeatedly: + angle=sonarmotor(); + sonar(); + if(headlightflag==true) + analogWrite(headlight, HIGH); + if(headlightflag==false) + analogWrite(headlight,LOW); + if(Serial.available()>0) + { + a=Serial.readString(); + Serial.println(a); + if(a=="forward"); + forward(); + else if(a=="backward"); + backward(); + else if(a=="rightturn") + rightturn(); + else if(a=="leftturn") + leftturn(); + // now prepare the lighting system here + else if(a=="headlight") + { + if(headlightflag==false) + headlightflag=true; + else if (headlightflag==true) + headlightflag=false; + } + } +} diff --git a/walking-car/OldVersions/base.0002.ipt b/walking-car/OldVersions/base.0002.ipt new file mode 100644 index 0000000..a8827a0 Binary files /dev/null and b/walking-car/OldVersions/base.0002.ipt differ diff --git a/walking-car/OldVersions/connector.0004.ipt b/walking-car/OldVersions/connector.0004.ipt new file mode 100644 index 0000000..c293c58 Binary files /dev/null and b/walking-car/OldVersions/connector.0004.ipt differ diff --git a/walking-car/OldVersions/driverwheel.0003.ipt b/walking-car/OldVersions/driverwheel.0003.ipt new file mode 100644 index 0000000..97ddd7c Binary files /dev/null and b/walking-car/OldVersions/driverwheel.0003.ipt differ diff --git a/walking-car/OldVersions/legplate.0001.ipt b/walking-car/OldVersions/legplate.0001.ipt new file mode 100644 index 0000000..b91358d Binary files /dev/null and b/walking-car/OldVersions/legplate.0001.ipt differ diff --git a/walking-car/OldVersions/legrod.0001.ipt b/walking-car/OldVersions/legrod.0001.ipt new file mode 100644 index 0000000..fb1008d Binary files /dev/null and b/walking-car/OldVersions/legrod.0001.ipt differ diff --git a/walking-car/OldVersions/maindriver.0001.ipt b/walking-car/OldVersions/maindriver.0001.ipt new file mode 100644 index 0000000..ed370c2 Binary files /dev/null and b/walking-car/OldVersions/maindriver.0001.ipt differ diff --git a/walking-car/OldVersions/one-leg.0001.iam b/walking-car/OldVersions/one-leg.0001.iam new file mode 100644 index 0000000..def439a Binary files /dev/null and b/walking-car/OldVersions/one-leg.0001.iam differ diff --git a/walking-car/OldVersions/one-leg.0002.iam b/walking-car/OldVersions/one-leg.0002.iam new file mode 100644 index 0000000..ddd070a Binary files /dev/null and b/walking-car/OldVersions/one-leg.0002.iam differ diff --git a/walking-car/OldVersions/one-whole-leg.0001.iam b/walking-car/OldVersions/one-whole-leg.0001.iam new file mode 100644 index 0000000..22c562e Binary files /dev/null and b/walking-car/OldVersions/one-whole-leg.0001.iam differ diff --git a/walking-car/OldVersions/shaft1.0005.ipt b/walking-car/OldVersions/shaft1.0005.ipt new file mode 100644 index 0000000..1b4f8a1 Binary files /dev/null and b/walking-car/OldVersions/shaft1.0005.ipt differ diff --git a/walking-car/base.ipt b/walking-car/base.ipt new file mode 100644 index 0000000..a4ed77b Binary files /dev/null and b/walking-car/base.ipt differ diff --git a/walking-car/connector.ipt b/walking-car/connector.ipt new file mode 100644 index 0000000..7a74817 Binary files /dev/null and b/walking-car/connector.ipt differ diff --git a/walking-car/driverwheel.ipt b/walking-car/driverwheel.ipt new file mode 100644 index 0000000..46205ed Binary files /dev/null and b/walking-car/driverwheel.ipt differ diff --git a/walking-car/final-piece.iam b/walking-car/final-piece.iam new file mode 100644 index 0000000..2cc4b64 Binary files /dev/null and b/walking-car/final-piece.iam differ diff --git a/walking-car/legplate.ipt b/walking-car/legplate.ipt new file mode 100644 index 0000000..1263470 Binary files /dev/null and b/walking-car/legplate.ipt differ diff --git a/walking-car/legrod.ipt b/walking-car/legrod.ipt new file mode 100644 index 0000000..38bc9ef Binary files /dev/null and b/walking-car/legrod.ipt differ diff --git a/walking-car/legsupport.ipt b/walking-car/legsupport.ipt new file mode 100644 index 0000000..914efb0 Binary files /dev/null and b/walking-car/legsupport.ipt differ diff --git a/walking-car/maindriver.ipt b/walking-car/maindriver.ipt new file mode 100644 index 0000000..8161fd2 Binary files /dev/null and b/walking-car/maindriver.ipt differ diff --git a/walking-car/one-leg.iam b/walking-car/one-leg.iam new file mode 100644 index 0000000..af3657e Binary files /dev/null and b/walking-car/one-leg.iam differ diff --git a/walking-car/one-whole-leg.iam b/walking-car/one-whole-leg.iam new file mode 100644 index 0000000..7da36e7 Binary files /dev/null and b/walking-car/one-whole-leg.iam differ diff --git a/walking-car/shaft1.ipt b/walking-car/shaft1.ipt new file mode 100644 index 0000000..8b607a7 Binary files /dev/null and b/walking-car/shaft1.ipt differ diff --git a/walking.car/walkin-car-control-panel/walkin-car-control-panel.ino b/walking.car/walkin-car-control-panel/walkin-car-control-panel.ino new file mode 100644 index 0000000..2d5a63e --- /dev/null +++ b/walking.car/walkin-car-control-panel/walkin-car-control-panel.ino @@ -0,0 +1,246 @@ +#include // for the mpu +// the starred points vary the speed of the system +// here we define the global variables +int trigger =9; // a digital pin +int echo =10; // a digital pin +int sonarmotor =11; // a digital pin +const int MPU=0*68; +int16_t AcX,AcY,AcZ,TmpGyX,TmpGyY,TmpGyZ; +int gear1speed=255; // speed of gear1 setup, can be changed----- changed to set motor rpm ----* +int gear2speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm ----* +int gear3speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm ----* +int gear4speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm ----* +int gear1enable=19; // an analog pin +int gear2enable=20; // an analog pin +int gear3enable=21; // an analog pin +int gear4enable=22; // an analog pin +int gear11=5; +int gear12=6; +int gear21=7; +int gear22=8; +int gear31=12; +int gear32=13; +int gear41=14; +int gear42=15; +int indicator1=23; // an analog pin +int indicator2=24; // an analog pin +int headlight=25; // an analog pin +int backlight=26; // an analog pin +boolean headlightflag=false; // watches if headlight is previously on or off +void setup() { + // put your setup code here, to run once: + pinMode(sonarmotor,OUTPUT); + pinMode(trigger,OUTPUT); + pinMode(echo,INPUT); + Wire.begin(); + Wire.beginTransmission(MPU); + Wire.write(0); + Wire.endTransmission(true); + Serial.begin(9600); + pinMode(gear1speed,OUTPUT); + pinMode(gear2speed,OUTPUT); + pinMode(gear3speed,OUTPUT); + pinMode(gear4speed,OUTPUT); + pinMode(gear1enable,OUTPUT); + pinMode(gear2enable,OUTPUT); + pinMode(gear3enable,OUTPUT); + pinMode(gear4enable,OUTPUT); + pinMode(gear11,OUTPUT); + pinMode(gear12,OUTPUT); + pinMode(gear21,OUTPUT); + pinMode(gear22,OUTPUT); + pinMode(gear31,OUTPUT); + pinMode(gear32,OUTPUT); + pinMode(gear41,OUTPUT); + pinMode(gear42,OUTPUT); +} +double angleis() // this controls the angle of rotation of th emotor controlling the SONAR untrasonic sensor +{ + digitalWrite(sonarmotor, HIGH); + delay(1000); // based on rpm + sonarmotor+= sonarmotor; + if (sonarmotor==360) + sonarmotor=0; + return sonarmotor; +} +void sonar() // here we define how our vehicle understands it's surroundings by SONAR system +{ + double angle= angleis(); + long duration, distance; + double xposition ,yposition; + digitalWrite(trigger, LOW); + delay(2); + digitalWrite(trigger, HIGH); + delay(10); + digitalWrite(trigger, LOW); + duration= pulseIn(echo, HIGH); + distance= duration*2*29.1; + // now we divide the planes into four quadrants + if(angle<=90) + { + xposition=cos(angle); + yposition=sin(angle); + } + else if(angle>90 && angle<=180) + { + xposition=sin(angle); + yposition=cos(angle); + } + + else if(angle>180 && xposition<=270) + { + xposition=sin(angle); + yposition=cos(angle); + } + else if(angle>270 && angle<=360) + { + xposition=cos(angle); + yposition=sin(angle); + } + +} +void gpu() // here we code the gpu +{ + Wire.beginTransmission(MPU); + Wire.write(0*3B); + Wire.endTransmission(false); + Wire.requestFrom(MPU,12,true); + AcX=Wire.read()<<81 Wire.read(); + AcY=Wire.read()<<81 Wire.read(); + AcZ=Wire.read()<<81 Wire.read(); + GyX=Wire.read()<<81 Wire.read(); + GyY=Wire.read()<<81 Wire.read(); + GyZ=Wire.read()<<81 Wire.read(); + Serial.print("Accelerometer reading:-"); + Serial.print("X or movement sideways is :-"); + Serial.println(AcX); + Serial.print("Y or movement forward or backward is :-"); + Serial.println(AcY); + Serial.print("Z or movement upwards or downwards is :-"); + Serial.println(AcZ); + delay(333); + +} +void forward() // here we define how our vehicle goes forward +{ + analogWrite(gear1enable,gear1speed); + analogWrite(gear2enable,gear2speed); + analogWrite(gear3enable,gear3speed); + analogWrite(gear4enable,gear4speed); + digitalWrite(gear11,HIGH); + digitalWrite(gear12,LOW); + digitalWrite(gear41,HIGH); + digitalWrite(gear42,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear21,HIGH); + digitalWrite(gear22,LOW); + digitalWrite(gear31,HIGH); + digitalWrite(gear32,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* +} +void backward() // here we define how our vehicle goes backward +{ + analogWrite(gear1enable,gear1speed); + analogWrite(gear2enable,gear2speed); + analogWrite(gear3enable,gear3speed); + analogWrite(gear4enable,gear4speed); + analogWrite(backlight,HIGH); // turning on backlight + digitalWrite(gear11,LOW); + digitalWrite(gear12,HIGH); + digitalWrite(gear41,LOW); + digitalWrite(gear42,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear21,LOW); + digitalWrite(gear22,HIGH); + digitalWrite(gear31,LOW); + digitalWrite(gear32,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + analogWrite(backlight,LOW); // turning indicator off +} +void rightturn() // here we define how our vehicle gradually rotates right +{ + analogWrite(gear1enable,gear1speed); + analogWrite(gear2enable,gear2speed); + analogWrite(gear3enable,gear3speed); + analogWrite(gear4enable,gear4speed); + analogWrite(indicator2,HIGH); // turning the indicator on + digitalWrite(gear11,HIGH); + digitalWrite(gear12,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear41,LOW); + digitalWrite(gear42,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear21,LOW); + digitalWrite(gear22,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear31,HIGH); + digitalWrite(gear32,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + analogWrite(indicator1, HIGH); // turning the indicator off +} +void leftturn() // here we define how our vehicle gradually rotates left +{ + analogWrite(gear1enable,gear1speed); + analogWrite(gear2enable,gear2speed); + analogWrite(gear3enable,gear3speed); + analogWrite(gear4enable,gear4speed); + analogWrite(indicator1,HIGH); // turning the indicator on + digitalWrite(gear11,LOW); + digitalWrite(gear12,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear41,HIGH); + digitalWrite(gear42,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear21,HIGH); + digitalWrite(gear22,LOW); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + digitalWrite(gear31,LOW); + digitalWrite(gear32,HIGH); + delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors ----* + analogWrite(indicato12,LOW); // turning the indicator off +} +void light() // here we define the lights and indicators +{ + Serial.print("You want normal lighting up or you want all the lights to turn on?"); + if(Serial,available()>0) + Serial.readString(a); + if(a=="normal") + analogWrite(headlight,HIGH); + else if(a=="all") + { + analogWrite(headlight,HIGH); + analogWrite(indicator1,HIGH); + analogWrite(indicator2,HIGH); + analogWrite(backlight,HIGH); + } +} +void loop() { + // put your main code here, to run repeatedly: + angle=sonarmotor(); + sonar(); + if(headlightflag==true) + analogWrite(headlight, HIGH); + if(headlightflag==false) + analogWrite(headlight,LOW); + if(Serial.available()>0) + { + a=Serial.readString(); + Serial.println(a); + if(a=="forward"); + forward(); + else if(a=="backward"); + backward(); + else if(a=="rightturn") + rightturn(); + else if(a=="leftturn") + leftturn(); + // now prepare the lighting system here + else if(a=="headlight") + { + if(headlightflag==false) + headlightflag=true; + else if (headlightflag==true) + headlightflag=false; + } + } +} diff --git a/walking.car/walking-car/OldVersions/base.0003.ipt b/walking.car/walking-car/OldVersions/base.0003.ipt new file mode 100644 index 0000000..a4ed77b Binary files /dev/null and b/walking.car/walking-car/OldVersions/base.0003.ipt differ diff --git a/walking.car/walking-car/OldVersions/connector.0004.ipt b/walking.car/walking-car/OldVersions/connector.0004.ipt new file mode 100644 index 0000000..c293c58 Binary files /dev/null and b/walking.car/walking-car/OldVersions/connector.0004.ipt differ diff --git a/walking.car/walking-car/OldVersions/driverwheel.0003.ipt b/walking.car/walking-car/OldVersions/driverwheel.0003.ipt new file mode 100644 index 0000000..97ddd7c Binary files /dev/null and b/walking.car/walking-car/OldVersions/driverwheel.0003.ipt differ diff --git a/walking.car/walking-car/OldVersions/final-piece.0002.iam b/walking.car/walking-car/OldVersions/final-piece.0002.iam new file mode 100644 index 0000000..645f75b Binary files /dev/null and b/walking.car/walking-car/OldVersions/final-piece.0002.iam differ diff --git a/walking.car/walking-car/OldVersions/legplate.0002.ipt b/walking.car/walking-car/OldVersions/legplate.0002.ipt new file mode 100644 index 0000000..1263470 Binary files /dev/null and b/walking.car/walking-car/OldVersions/legplate.0002.ipt differ diff --git a/walking.car/walking-car/OldVersions/legrod.0001.ipt b/walking.car/walking-car/OldVersions/legrod.0001.ipt new file mode 100644 index 0000000..fb1008d Binary files /dev/null and b/walking.car/walking-car/OldVersions/legrod.0001.ipt differ diff --git a/walking.car/walking-car/OldVersions/maindriver.0001.ipt b/walking.car/walking-car/OldVersions/maindriver.0001.ipt new file mode 100644 index 0000000..ed370c2 Binary files /dev/null and b/walking.car/walking-car/OldVersions/maindriver.0001.ipt differ diff --git a/walking.car/walking-car/OldVersions/one-leg.0004.iam b/walking.car/walking-car/OldVersions/one-leg.0004.iam new file mode 100644 index 0000000..f6db48e Binary files /dev/null and b/walking.car/walking-car/OldVersions/one-leg.0004.iam differ diff --git a/walking.car/walking-car/OldVersions/one-whole-leg.0002.iam b/walking.car/walking-car/OldVersions/one-whole-leg.0002.iam new file mode 100644 index 0000000..7da36e7 Binary files /dev/null and b/walking.car/walking-car/OldVersions/one-whole-leg.0002.iam differ diff --git a/walking.car/walking-car/OldVersions/shaft1.0005.ipt b/walking.car/walking-car/OldVersions/shaft1.0005.ipt new file mode 100644 index 0000000..1b4f8a1 Binary files /dev/null and b/walking.car/walking-car/OldVersions/shaft1.0005.ipt differ diff --git a/walking.car/walking-car/base.ipt b/walking.car/walking-car/base.ipt new file mode 100644 index 0000000..53d9202 Binary files /dev/null and b/walking.car/walking-car/base.ipt differ diff --git a/walking.car/walking-car/connector.ipt b/walking.car/walking-car/connector.ipt new file mode 100644 index 0000000..7a74817 Binary files /dev/null and b/walking.car/walking-car/connector.ipt differ diff --git a/walking.car/walking-car/driverwheel.ipt b/walking.car/walking-car/driverwheel.ipt new file mode 100644 index 0000000..46205ed Binary files /dev/null and b/walking.car/walking-car/driverwheel.ipt differ diff --git a/walking.car/walking-car/final-piece.iam b/walking.car/walking-car/final-piece.iam new file mode 100644 index 0000000..0114bdc Binary files /dev/null and b/walking.car/walking-car/final-piece.iam differ diff --git a/walking.car/walking-car/legplate.ipt b/walking.car/walking-car/legplate.ipt new file mode 100644 index 0000000..180f460 Binary files /dev/null and b/walking.car/walking-car/legplate.ipt differ diff --git a/walking.car/walking-car/legrod.ipt b/walking.car/walking-car/legrod.ipt new file mode 100644 index 0000000..38bc9ef Binary files /dev/null and b/walking.car/walking-car/legrod.ipt differ diff --git a/walking.car/walking-car/legsupport.ipt b/walking.car/walking-car/legsupport.ipt new file mode 100644 index 0000000..914efb0 Binary files /dev/null and b/walking.car/walking-car/legsupport.ipt differ diff --git a/walking.car/walking-car/lockfile.lck b/walking.car/walking-car/lockfile.lck new file mode 100644 index 0000000..3292ab1 Binary files /dev/null and b/walking.car/walking-car/lockfile.lck differ diff --git a/walking.car/walking-car/maindriver.ipt b/walking.car/walking-car/maindriver.ipt new file mode 100644 index 0000000..8161fd2 Binary files /dev/null and b/walking.car/walking-car/maindriver.ipt differ diff --git a/walking.car/walking-car/one-leg.iam b/walking.car/walking-car/one-leg.iam new file mode 100644 index 0000000..119cfd6 Binary files /dev/null and b/walking.car/walking-car/one-leg.iam differ diff --git a/walking.car/walking-car/one-whole-leg.iam b/walking.car/walking-car/one-whole-leg.iam new file mode 100644 index 0000000..d7a7d07 Binary files /dev/null and b/walking.car/walking-car/one-whole-leg.iam differ diff --git a/walking.car/walking-car/shaft1.ipt b/walking.car/walking-car/shaft1.ipt new file mode 100644 index 0000000..8b607a7 Binary files /dev/null and b/walking.car/walking-car/shaft1.ipt differ