Biorobotics 7 / Mbed 2 deprecated Inverse_kinematic

Inverse kinematics

Dependencies:   Matrix mbed

Files at this revision

API Documentation at this revision

Revision 10:c35d16ad1b6b, committed 2018-11-01

Comitter:
MAHCSnijders
Date:
Thu Nov 01 10:49:37 2018 +0000
Parent:
9:2944c792daa2
Commit message:
Bugs are not bugging us anymore, so r is happy :D

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 2944c792daa2 -r c35d16ad1b6b main.cpp
--- 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;