State machine
Dependencies: mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter
Diff: constants.h
- Revision:
- 51:e0e4d7e3de93
- Parent:
- 39:f119ca6fc821
diff -r 5d2176b93a65 -r e0e4d7e3de93 constants.h --- a/constants.h Mon Nov 05 10:14:31 2018 +0000 +++ b/constants.h Mon Nov 05 16:03:39 2018 +0000 @@ -32,7 +32,7 @@ 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 +const float max_r_length = 0.2399; // If delta is too large the device will get stuck // Maximum and minimum angles of the main and secondary arm. const float main_arm_max_angle = 2.79253; const float main_arm_min_angle = main_motor_calibration_angle - 0.05;