Sequences
=========

Locomotion Sequences
--------------------

This section describes gait patterns and control routines,
including timing, phase offsets, and coordination strategies
used by the quadruped.

Shifting for and backward
-------------------------
With the power system ready, we can now connect and test the servos.


.. figure:: ../images/sequences/sideshift.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 1 – shifting .* 
move the sliders

Core Crawl
----------

start in center position

.. figure:: ../images/positions/Fase_00_00_center.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 0 – Fase_00_00_center .* 
Frame 1

.. figure:: ../images/positions/Fase_01_00_lift_left.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 1 – Fase_01_00_lift_left .* 
Frame 2

.. figure:: ../images/positions/Fase_02_00_shift.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 1a – Fase_02_00_shift .* 
Frame 2a

.. figure:: ../images/positions/Fase_02_01_shift.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 2 – Fase_02_01_shift .* 
.

Frame 3 tip_over

.. figure:: ../images/positions/Fase_03_00_tip_over.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 3 – Fase_03_00_tip_over .* 
Frame 4 rear_down


.. figure:: ../images/positions/Fase_04_00_rear_down.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 4 – Fase_04_00_rear_down .* 

Frame 5 lift_right

.. figure:: ../images/positions/Fase_05_00_lift_right.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 5 – Fase_05_00_lift_right .* 
Frame 6 shift

.. figure:: ../images/positions/Fase_06_00_shift.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 6 – Fase_06_00_shift .* 
Frame 6a shift

.. figure:: ../images/positions/Fase_06_01_shift.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 6a – Fase_06_01_shift .* 
Frame 6b shift

.. figure:: ../images/positions/Fase_06_02_shift.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 6b – Fase_06_02_shift .* 
Frame 7 tip_over

.. figure:: ../images/positions/Fase_07_00_tip_over.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 7 – Fase_07_00_tip_over .* 
Frame 8 rear_down

.. figure:: ../images/positions/Fase_08_00_rear_down.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 8 – Fase_08_00_rear_down .* 
Frame 9 lift_left

.. figure:: ../images/positions/Fase_09_00_lift_left.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 9 – Fase_09_00_lift_left .* 
Frame 10 shift

.. figure:: ../images/positions/Fase_10_00_shift.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 10 – Fase_10_00_shift .* 
Frame 10a shift

.. figure:: ../images/positions/Fase_10_01_shift.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 10a – Fase_10_01_shift .* 
Frame 11 tip_over


.. figure:: ../images/positions/Fase_11_00_tip_over.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 11 – Fase_11_00_tip_over .* 
Frame 12 rear_down

.. figure:: ../images/positions/Fase_12_00_rear_down.png
   :alt: Wiring diagram of ESP32, LM2596, and PCA9685
   :align: center
   :width: 40%

   *Figure 12 – Fase_12_00_rear_down .* 
finished


 .. note::
   Dit is een opmerking.

.. warning::
   Dit is een waarschuwing! |:warning:|

.. tip::
   Handige tip.  


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