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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Robot-Software_jesse
by 
Biorobotics
Diff: help_functions/kinematics.h
- Branch:
- bla
- Revision:
- 12:3c47c7b1d1d7
- Parent:
- 9:8e1112874c12
diff -r c8251a1362b7 -r 3c47c7b1d1d7 help_functions/kinematics.h
--- a/help_functions/kinematics.h Tue Oct 23 08:48:06 2018 +0000
+++ b/help_functions/kinematics.h Tue Oct 23 10:47:19 2018 +0000
@@ -29,6 +29,6 @@
q1_star_des = 1/(L1*(-x*sin(q1)-(y+y01)*cos(q1)))*(-1*(-x+L1*cos(q1))*des_twist[0]-x*des_twist[1]);
q2_star_des = 1/(L1*(-x*sin(q1)-(y+y01)*cos(q1)))*(-1*(-y+y01+L1*sin(q1))*des_twist[0]+1*(-y+y01))*des_twist[1]);
- q_ref[1] = q_ref[1]+T*q1_star_des;
- q_ref[2] = q_ref[2]+T*(q2_star_des - q1_star_des);
+ qref1 = qref1+T*q1_star_des; // Yet to adapt all these equations
+ qref2 = qref2+T*(q2_star_des - q1_star_des);
}
\ No newline at end of file