State machine
Dependencies: mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter
Diff: constants.h
- Revision:
- 33:543debddb3a9
- Parent:
- 27:b247e78a4380
- Child:
- 39:f119ca6fc821
diff -r b63b5837bcb1 -r 543debddb3a9 constants.h --- a/constants.h Thu Nov 01 14:11:30 2018 +0000 +++ b/constants.h Thu Nov 01 14:39:55 2018 +0000 @@ -18,6 +18,8 @@ const float main_gear_ratio = 25.0/60.0; const float sec_gear_ratio = 25.0/50.0; +const double main_motor_calibration_angle = 0.785398; // 45 degrees. +const double sec_motor_calibration_angle = -0.733038; // -42 degrees. const float L0 = 0.15; // Length between two motors [meter] const float L1 = 0.10; // Length first beam from right motor2 [meter] @@ -30,7 +32,7 @@ // 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; +const float main_arm_max_angle = 2.79253; +const float main_arm_min_angle = main_motor_calibration_angle - 0.05; const float sec_arm_max_angle = 1.48353; -const float sec_arm_min_angle = -0.733038; \ No newline at end of file +const float sec_arm_min_angle = sec_motor_calibration_angle + 0.05; \ No newline at end of file