DemoState with IK and MotorControl and input vx_des and vy_des with potmeter1 and button2
Dependencies: FastPWM MODSERIAL Matrix MatrixMath mbed QEI
Diff: main.cpp
- Revision:
- 7:fb3da4df4269
- Parent:
- 6:a6f79f31767b
- Child:
- 8:3d2228402c71
diff -r a6f79f31767b -r fb3da4df4269 main.cpp --- a/main.cpp Sat Nov 03 13:52:22 2018 +0000 +++ b/main.cpp Tue Nov 06 16:12:17 2018 +0000 @@ -84,10 +84,10 @@ void ComputeJ(void) { - J1 = -sin(currentPosition1)/(L1*cos(currentPosition1)*sin(currentPosition2)-L1*cos(currentPosition2)*sin(currentPosition1)); - J2 = cos(currentPosition2)/(L1*cos(currentPosition1)*sin(currentPosition2)-L1*cos(currentPosition2)*sin(currentPosition1)); - J3 = (L1*sin(currentPosition1)+L2*sin(currentPosition2))/(L1*L2*cos(currentPosition1)*sin(currentPosition2)-L1*L2*cos(currentPosition2)*sin(currentPosition1)); - J4 = -(L1*cos(currentPosition1)+L2*cos(currentPosition2))/(L1*L2*cos(currentPosition1)*sin(currentPosition2)-L1*L2*cos(currentPosition2)*sin(currentPosition1)); + J1 = -sin(q1)/(L1*cos(q1)*sin(q2)-L1*cos(q2)*sin(q1)); + J2 = cos(q2)/(L1*cos(q1)*sin(q2)-L1*cos(q2)*sin(q1)); + J3 = (L1*sin(q1)+L2*sin(q2))/(L1*L2*cos(q1)*sin(q2)-L1*L2*cos(q2)*sin(q1)); + J4 = -(L1*cos(q1)+L2*cos(q2))/(L1*L2*cos(q1)*sin(q2)-L1*L2*cos(q2)*sin(q1)); } void ComputeV(void)