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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Robot-Software_jesse
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Biorobotics
help_functions/kinematics.h
- Committer:
- MaikOvermars
- Date:
- 2018-10-22
- Revision:
- 0:4cb1de41d049
- Child:
- 2:17ed767d8394
File content as of revision 0:4cb1de41d049:
#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;
}