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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Robot-Software_jesse
by 
Biorobotics
Diff: help_functions/kinematics.h
- Revision:
- 6:8ff9566c91e2
- Parent:
- 5:0dd66c757f24
- Child:
- 7:b77f2201b156
- Child:
- 13:3482d315877c
--- a/help_functions/kinematics.h Mon Oct 22 19:12:42 2018 +0000
+++ b/help_functions/kinematics.h Mon Oct 22 19:13:37 2018 +0000
@@ -5,15 +5,11 @@
double x01 = 0.0;
double y01 = 0.2;
-double forwardkinematics_function(double q1, double q2) {
+void forwardkinematics_function(double q1, double q2) {
// input are joint angles, output are x and y position of end effector
- double x; // WE SHOULD MAKE x and y global. Discuss this!!
- double y;
-
x = x01 - L1 * sin(q1) + L2 * cos(q1 + q2);
- y = y01 + L1 * cos(q1) + L2 * sin(q1 + q2);
- return x;
+ y = y01 + L1 * cos(q1) + L2 * sin(q1 + q2);
}
double inversekinematics_function(double q1, double q2, double reference) {