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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Robot-Software_jesse
by 
Biorobotics
help_functions/kinematics.h
- Committer:
- SvenD97
- Date:
- 2018-10-23
- Revision:
- 7:b77f2201b156
- Parent:
- 6:8ff9566c91e2
- Child:
- 8:bba05e863b68
File content as of revision 7:b77f2201b156:
#include "mbed.h"
double L1 = 0.5;
double L2 = 0.7;
double x01 = 0.0;
double y01 = 0.2;
void forwardkinematics_function(double q1, double q2) {
// input are joint angles, output are x and y position of end effector
x = x01 + L1*cos(q1)-L2*cos(q2);
y = y01 + L1 * sin(q1) - L2 * sin(q2);
}
double inversekinematics_function(double q1, double q2, double reference) {
// pseudo inverse jacobian to get joint speeds
// input are desired vx and vy of end effector, output joint angle speeds
// I assume here that reference is a vector (this should also be global I think)
return 5.5;
}