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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Robot-Software_jesse
by 
Biorobotics
Diff: help_functions/kinematics.h
- Revision:
- 2:17ed767d8394
- Parent:
- 0:4cb1de41d049
- Child:
- 3:40e0e9404f82
--- a/help_functions/kinematics.h Mon Oct 22 13:02:29 2018 +0000
+++ b/help_functions/kinematics.h Mon Oct 22 19:04:51 2018 +0000
@@ -6,10 +6,8 @@
double y01 = 0.2;
double q1,q2,x,y;
-float forwardkinematics_function(double motor_angle) {
+float forwardkinematics_function(double q1, double q2) {
// input are joint angles, output are x and y position of end effector
- q1 = motor_angle;
- q2 = motor_angle;
x = x01 - L1 * sin(q1) + L2 * cos(q1 + q2);
y = y01 + L1 * cos(q1) + L2 * sin(q1 + q2);