Biorobotics 7 / Mbed 2 deprecated State_Machine

State machine

Dependencies:   mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter

Diff: forward_kinematics.h

Revision:
22:720a410c4980
Parent:
20:af1a6cd7469b
Child:
50:5d2176b93a65
--- a/forward_kinematics.h	Wed Oct 31 18:54:07 2018 +0000
+++ b/forward_kinematics.h	Thu Nov 01 06:55:10 2018 +0000
@@ -38,7 +38,7 @@
     float J2y_0 = J2x_2*sin(sec_angle) + J2y_2 * cos(sec_angle) + J1y_1;
  
     // Calculation of End-effector
-    float f_x = J2x_0 - J3x_0;
+    float f_x = J2x_0 - L6;
     float f_y = J2y_0;
     float f = sqrt(pow(f_x,2) + pow(f_y,2));                              // Radius between motor 1 and Joint 2
     float xhi = acos( -(pow(f,2) - pow(L3,2) - pow(L4,2))/(2*L3*L4) );         // Angle between L3 and L4