Biorobotics 7 / Mbed 2 deprecated Inverse_kinematic

Inverse kinematics

Dependencies:   Matrix mbed

Diff: main.cpp

Revision:
10:c35d16ad1b6b
Parent:
9:2944c792daa2
--- a/main.cpp	Thu Nov 01 10:37:07 2018 +0000
+++ b/main.cpp	Thu Nov 01 10:49:37 2018 +0000
@@ -46,7 +46,7 @@
     float q2 = PI - alfa;                                                   // Angle between L1 and L2
     
     // Delta < 170 graden SAFETY LIMITATION
-    if (r > 2.96706)                                        // If delta is larger than 175 degrees than r is this
+    if (r > 0.2399)                                                         // If delta is larger than 175 degrees than r is this
     {
         r = 0.2399;     // I CHANGED THIS
         safetyLED = 0;