Biorobotics / Mbed 2 deprecated frdm_kinematics

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Dependencies:   MODSERIAL mbed

Files at this revision

API Documentation at this revision

Revision 4:022b69da83f8, committed 2015-10-19

Comitter:
apdijkshoorn
Date:
Mon Oct 19 13:25:24 2015 +0000
Parent:
3:1e8cfc385b48
Commit message:
Functions for direct and inverse kinematics of a scara robotic arm, based on trigonometry

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 1e8cfc385b48 -r 022b69da83f8 main.cpp
--- a/main.cpp	Mon Oct 19 13:23:58 2015 +0000
+++ b/main.cpp	Mon Oct 19 13:25:24 2015 +0000
@@ -26,7 +26,7 @@
     double L1 = 0.34;
     double L2 = 0.26;
     double theta1_0 = 30;
-    double theta2_0 = 46;
+    double theta2_0 = 180;
     
     double theta_2 = acos( (x*x+y*y-L1*L1-L2*L2)/(2*L1*L2) )* 180 / PI;
     double theta_total = atan2 (y,x) * 180 / PI;