Biorobotics 7 / Mbed 2 deprecated State_Machine

State machine

Dependencies:   mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter

Diff: constants.h

Revision:
27:b247e78a4380
Parent:
20:af1a6cd7469b
Child:
33:543debddb3a9
--- a/constants.h	Thu Nov 01 10:12:35 2018 +0000
+++ b/constants.h	Thu Nov 01 10:55:11 2018 +0000
@@ -27,6 +27,8 @@
 const float L5 = 0.35;                      // Length from L3 to end-effector [meter]
 const float L6 = 1.0;                       // Length beam between frame 0 and motor 1 [meter]
 
+// For inverse kinematics, maximum values for angles.
+const float max_r_angle = 2.96706; // If delta is larger than 175 degrees r is larger than this
 // Maximum and minimum angles of the main and secondary arm.
 const float main_arm_max_angle = 1.22173;
 const float main_arm_min_angle = 0.785398;