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Display /W=(26,50,446,229) yCoM vs xCoM as "Space plot" AppendToGraph Fany vs FanX ModifyGraph height={Plan,1,left,bottom} ModifyGraph zColor(Fany)={FanT,*,*,Rainbow} Label left "Height (m)" Label bottom "Position (m)" SetAxis/E=1 left 0,1 EndMacro Window TimePlot() : Graph PauseUpdate; Silent 1 // building window... Display /W=(449,55,1006,491) yCoM as "Time plot" AppendToGraph/R PE,KE AppendToGraph VxCoM,VyCoM,vel ModifyGraph mode(yCoM)=4 ModifyGraph marker(yCoM)=19 ModifyGraph lStyle(PE)=3,lStyle(KE)=3 ModifyGraph rgb(KE)=(24576,24576,65535),rgb(VxCoM)=(65535,16385,55749),rgb(VyCoM)=(0,65535,0) ModifyGraph rgb(vel)=(1,12815,52428) 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  u#pragma rtGlobals=1 // Use modern global access method. //Kinetic soultion to simple compass gait dlm 2007 //Modified to use integration of angle as in examination question 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,AngVel, AngAcc,PoS //make waves available too. SetScale /p x 0,dt,"s", xCoM,yCoM,VxCoM,VyCoM, Vel, PE,KE, Angle,AngVel, AngAcc,PoS //Scale waves to increment by time step Variable MoI=mass*LegL*LegL //Moment of Inertia Angle[0]=0 //Set initial conditions AngVel[0]=Legl*Vinit PoS=0 //Initial point of support is x=0 variable tp=1 //Numbered time point Do AngAcc[tp]=Mass*g*sin(Angle[tp-1])/MoI //Find angular acceleration as torque/Moment of inertia AngVel[tp]=AngVel[tp-1]+AngAcc[tp]*dt //Integrate Ang Acc to get new Ang Vel Angle[tp]=Angle[tp-1]+AngVel[tp]*dt //Integrate AngVel to get new angle If (Angle[tp]>asin(stride/4/LegL)) //Time to change leg? PoS[tp]=PoS[tp-1]+Stride/2 //Move point of support to other leg contact Angle[tp]=-angle[tp] //Set angle to angle of new stance leg Else PoS[tp]=PoS[tp-1] //If not, keep same point of support EndIf tp+=1 //increment time point While (tp