File content as of revision 0:6fa73e77d49c:

#include "mbed.h"
#include "math.h"
#include "Matrix.h"
#include "MODSERIAL.h"

MODSERIAL pc(USBTX, USBRX);

// Stuff die waarschijnlijk weg kan??
const float L0 = 0.15;                      // Length between two motors [meter]
const float L1 = 0.10;                      // Length first beam from right motor2 [meter]
const float L2 = 0.30;                      // Length second beam from right motor2 [meter]
const float L3 = 0.15;                      // Length beam between L2 and L4 [meter]
const float L4 = 0.30;                      // Length first beam from left motor1 [meter]
const float L5 = 0.35;                      // Length from L3 to end-effector [meter]
const double PI = 3.14159265359;

// DEZE MOET ER NOG WEL IN!!!
const float L6 = 1.0;                       // Length beam between frame 0 and motor 1 [meter]
volatile static float Pe_x_cur;             // Current x-coordinate of end-effector from frame 0 [meter]
volatile static float Pe_y_cur;             // Current y-coordinate of end-effector from frame 0 [meter]
volatile float motor_angle1;                // Current angle of motor 1 (left) based on kinematics [rad]
volatile float motor_angle2;                // Current angle of motor 2 (right) based on kinematics [rad]


// Useful stuff
Matrix H(3,3); // 2x2 matrix
Matrix J2_2(3,1); //
Ticker ForwardKinematics_ticker;
float J2x_2;
float J2y_2;

void ForwardKinematics()
{
    // Calculation of position joint 1 expressed in frame 0
    float J1x_0 = L6 + L0 + L1*cos(motor_angle2);
    float J1y_0 = L1*sin(motor_angle2);
    
    // Calculation of position joint 3 expressed in frame 0
    float J3x_0 = L6 + L4*cos(motor_angle1); 
    float J3y_0 = L4*sin(motor_angle1);

    // Calculation of Joint 2 expressed in frame 2
    float m_y = J3y_0 - J1y_0;
    float m_x = J1x_0 - J3x_0;
    float m = sqrt(pow(m_y,2) + pow(m_x,2));                              // Radius between Joint 1 and 3
    float delta = acos(- ( pow(m,2) - pow(L2,2) - pow(L3,2))/(2*L2*L3) );
    float mu = acos( (pow(L2,2) - pow(L3,2) + pow(m,2))/(2*m*L2) );               // Angle between L2 and m

    float t_y = J3y_0;
    float t_x = (L0 + L6) - J3x_0;
    float t = sqrt(pow(t_y,2) + pow(t_x,2));                              // Radius between frame 1 and Joint 3
    float phi = acos( (pow(L1,2) - pow(t,2) + pow(m,2))/(2*m*L1) );            // Angle between L1 and m

    float q2 = PI - mu - phi;                                     // Angle that L2 makes in frame 2
    J2x_2 = L2*cos(q2);
    J2y_2 = L2*sin(q2);

    //  Coordinate transformation for Joint 2
    
    float J1x_1 = L1*cos(motor_angle2);                              // Joint 1 expressed in frame 1
    float J1y_1 = L1*sin(motor_angle2); 

    
    H;
    //float J2_1 = H*J2_2;                                  // Homogenous coordinates Joint 2 in frame 1
    //float J2x_0 = J2_1(1) + L0 + L6;                              // x-coordinate Joint 2 in frame 0
    //float J2y_0 = J2_1(2); 

    // DEZE MATRIXMULTIPLICATIES MOETEN OOK IN EEN MATRIX FORMULE GEMAAKT WORDEN. MET STATIC VARIABLES KAN JE DAN NIEUWE MATRIX MAKEN
    // DIE BESTAAT UIT DE COMPONENTEN VAN DE ANDERE MATRICES
    
    
    
}

Matrix ComputeH(void)                                           // Making homogeneous matrix for frame 2 to 1 transformation
{
    double a = cos(motor_angle2);
    double b = - sin(motor_angle2);
    double c = L1*cos(motor_angle2);
    double d = sin(motor_angle2);
    double e = cos(motor_angle2);
    double f = L1*sin(motor_angle2);
    double g = 0;
    double h = 0;
    double i = 1;
    
    H << a << b << c
        << d << e << f
        << g << h << i;
    return H;
}

Matrix ComputeJ2_2(void)                               // Homogenous coordinates Joint 2 in frame 2
{
    double a = J2x_2;
    double b = J2y_2;
    double c = 1;

    J2_2 << a 
        << b 
        << c;
    return J2_2;
}


int main()
{
    pc.baud(115200);
    while (true) {
    ForwardKinematics_ticker.attach(ForwardKinematics,2);
    pc.printf("%d\n",H);
    }
}