Diff: inverse_kinematics.h

Revision:

50:5d2176b93a65

Parent:

27:b247e78a4380

Child:

51:e0e4d7e3de93

--- a/inverse_kinematics.h	Mon Nov 05 05:59:14 2018 +0000
+++ b/inverse_kinematics.h	Mon Nov 05 10:14:31 2018 +0000
@@ -32,7 +32,7 @@
     float q2 = PI - alfa;                                                   // Angle between L1 and L2
     
     // Delta < 175 graden SAFETY LIMITATION
-    if (r > max_r_angle)                                        // If delta is larger than 175 degrees than r is this
+    if (r > max_r_angle)                                        // If delta is larger than 175 degrees then r is this
     {
         r = max_r_angle;
     }
@@ -71,12 +71,4 @@
     {
         dest_sec_angle = sec_arm_max_angle;
     }
-    
-    
-    
-    // Delta < 170 graden
-    if (delta > 2.96706)                                        // If delta is larger than 180 degrees
-    {
-        delta = 2.96706;
-    }
 }
\ No newline at end of file