Functional explanation

[correderadiego]

It would be great to create a functional definition with the basic working modes of the robot. I am thinking about a description of the different walking modes and what to do in each mode. I have realized that it has declared from line 73 to 93 but I would need further explanation.

[borntoleave]

I'm shrinking the bytes of code by using abbreviations for different gaits.

• bd: bound
• tr: trot
• wk: walk
• cr: crawl
• bk: back
• L/R means left/right.
• from bound to back, it (roughly) follows a trend of reducing speed.

Full gait names are now added to catMini.ino, after those abbreviations.

The control could be organized in another way, such as:

• forward/backward to change the gaits corresponding to different speeds.
• left/right key for turning left and right
• number keys for different postures or behaviors

Different gait modes are the servo angles in different time frames and are periodical. They are derived with my algorithm stored elsewhere.