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DefaultFont "Helvetica" MoveWindow/P 318,158,819,578 SacePlot() Forces() TimePlot() MoveWindow/C 23,544,971,688 Window TimePlot() : Graph PauseUpdate; Silent 1 // building window... Display /W=(449,55,1006,491) yCoM,VxCoM,VyCoM as "Time plot" AppendToGraph/R PE,KE AppendToGraph vel ModifyGraph mode(yCoM)=4 ModifyGraph marker(yCoM)=19 ModifyGraph lStyle(PE)=3,lStyle(KE)=3 ModifyGraph rgb(VxCoM)=(3,52428,1),rgb(VyCoM)=(24576,24576,65535),rgb(KE)=(24576,24576,65535) ModifyGraph rgb(vel)=(44253,29492,58982) ModifyGraph msize(yCoM)=1 ModifyGraph lblMargin(left)=7 Label left "Height of CoM\\s(yCoM)Vert. vel.\\s(VyCoM) Horiz. vel.\\s(VxCoM) Total vel.\\s(vel)" Label bottom "Time" Label right "Kinetic energy\\s(KE) Potential energy\\s(PE)" SetAxis/N=1 left -2,3 SetAxis/N=1/E=1 right 0,600 ControlBar 25 SetVariable g,pos={1,2},size={85,15},title="g(m/s/s)",value= g SetVariable Mass,pos={93,3},size={85,15},title="Mass(kg)",value= Mass SetVariable Leg,pos={185,4},size={85,15},title="Leg(m)",value= LegL SetVariable Stride,pos={277,5},size={85,15},title="Stride(m)" SetVariable Stride,limits={0.1,inf,0.1},value= Stride SetVariable InitV,pos={371,5},size={127,15},title="Velocity(m/s)" SetVariable InitV,limits={0.1,inf,0.1},value= VInit Button Go,pos={517,2},size={50,20},proc=GoButton,title="Go" EndMacro Window Forces() : Graph PauseUpdate; Silent 1 // building window... Display /W=(26,261,446,495) Fx,Fy as "Forces" ModifyGraph rgb(Fy)=(1,4,52428) Label left "Vertical force\\s(Fy), Horizontal force\\s(Fx)" SetAxis left -200,600 EndMacro Window SacePlot() : Graph PauseUpdate; Silent 1 // building window... Display /W=(26,50,446,226) yCoM vs xCoM as "Space plot" AppendToGraph Fany vs FanX ModifyGraph height={Plan,1,left,bottom} ModifyGraph zColor(Fany)={FanT,*,*,Rainbow} SetAxis/A/E=1 left EndMacro  I#pragma rtGlobals=1 // Use modern global access method. //Kinetic soultion to simple compass gait dlm 2007 Macro SetDefaults() //Macros automatically appear in Macro menu. g=9.8 //gravitational acceleration Mass=60 //Mass of body LegL=1 //Length of leg from heel to hip Stride=1.5 //Distance from right heel strike to right heel strike VInit=1.2 //Initial velocity End Function Go() variable dt=0.002 //Time step NVAR g, Mass, LegL,Stride, VInit //Make global variables available in function WAVE xCoM, yCoM, VxCoM, VyCoM, Vel, PE,KE, Angle,PoS //make waves available too. SetScale /p x 0,dt,"s", xCoM,yCoM,VxCoM,VyCoM, Vel, PE,KE, Angle,PoS //Scale waves to increment by time step xCoM=0;yCoM=LegL //Set waves to initial values VxCoM=VInit; VyCoM=0; Vel=VInit; PoS=0 PE=mass*g*yCoM //gravitational potential energy above ground KE=0.5*mass*VxCoM[0]*VxCoM[0] //Initial kinetic energy Variable TIE=PE[0]+KE[0] //Total Initial Energy variable tp=1 //Numbered time point Do xCoM[tp]=xCoM[tp-1]+VxCoM[tp-1]*dt //Move by previous horizontal velocity If (xCoM[tp]>(PoS[tp-1]+Stride/4)) //need to change stance leg PoS[tp]=PoS[tp-1]+Stride/2 //Move point of support to other leg contact DoUpdate //Updates graphs Else PoS[tp]=PoS[tp-1] EndIf Angle[tp]=LegL*asin((xCoM[tp]-PoS[tp])/LegL) //Angle of leg to vertical; positive if CoM is ahead of PoS yCoM[tp]=LegL*cos(angle[tp]) //Enforce kinematics of compass gait to determine height PE[tp]=Mass*g*(yCoM[tp]) //Potential energy from height KE[tp]=TIE-PE[tp] //Enforce energy conservation to get kinetic energy Vel[tp]=(2*KE[tp]/Mass)^.5 //Find total velocity from KE VxCoM[tp]=Vel[tp]*cos(Angle[tp]) //Resolve velocity to components VyCoM[tp]=-Vel[tp]*sin(Angle[tp]) tp+=1 //increment time point While (tp