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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Robot-Software_jesse
by 
Biorobotics
Diff: help_functions/kinematics.h
- Revision:
- 0:4cb1de41d049
- Child:
- 2:17ed767d8394
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/help_functions/kinematics.h Mon Oct 22 12:57:34 2018 +0000
@@ -0,0 +1,24 @@
+#include "mbed.h"
+
+double L1 = 0.5;
+double L2 = 0.7;
+double x01 = 0.0;
+double y01 = 0.2;
+double q1,q2,x,y;
+
+float forwardkinematics_function(double motor_angle) {
+ // 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);
+ return x;
+}
+
+float inversekinematics_function(double reference) {
+ // pseudo inverse jacobian to get joint speeds
+ // input are desired vx and vy of end effector, output joint angle speeds
+
+ return 5.5;
+}
\ No newline at end of file