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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Robot-Software_jesse
by 
Biorobotics
Diff: help_functions/kinematics.h
- Revision:
- 4:88d28354e023
- Parent:
- 3:40e0e9404f82
- Child:
- 5:0dd66c757f24
--- a/help_functions/kinematics.h Mon Oct 22 19:09:19 2018 +0000
+++ b/help_functions/kinematics.h Mon Oct 22 19:10:41 2018 +0000
@@ -4,11 +4,13 @@
double L2 = 0.7;
double x01 = 0.0;
double y01 = 0.2;
-double q1,q2,x,y;
double forwardkinematics_function(double q1, double q2) {
// input are joint angles, output are x and y position of end effector
+ double x;
+ double y;
+
x = x01 - L1 * sin(q1) + L2 * cos(q1 + q2);
y = y01 + L1 * cos(q1) + L2 * sin(q1 + q2);
return x;