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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Diff: help_functions/kinematics.h
- Revision:
- 3:40e0e9404f82
- Parent:
- 2:17ed767d8394
- Child:
- 4:88d28354e023
--- a/help_functions/kinematics.h Mon Oct 22 19:04:51 2018 +0000
+++ b/help_functions/kinematics.h Mon Oct 22 19:09:19 2018 +0000
@@ -6,7 +6,7 @@
double y01 = 0.2;
double q1,q2,x,y;
-float forwardkinematics_function(double q1, double q2) {
+double forwardkinematics_function(double q1, double q2) {
// input are joint angles, output are x and y position of end effector
x = x01 - L1 * sin(q1) + L2 * cos(q1 + q2);
@@ -14,7 +14,7 @@
return x;
}
-float inversekinematics_function(double reference) {
+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