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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Diff: help_functions/kinematics.h
- Revision:
- 23:7d83af123c43
- Parent:
- 22:31065a83d9e8
- Child:
- 29:d1e8eb135e6c
--- a/help_functions/kinematics.h Mon Oct 29 12:21:26 2018 +0000
+++ b/help_functions/kinematics.h Mon Oct 29 12:32:39 2018 +0000
@@ -8,8 +8,8 @@
void forwardkinematics_function(double& q1, double& q2, double& x, double& y) {
// input are joint angles, output are x and y position of end effector
- double robot_end_x = x01 + L_ua * cos(q1) - L_la * cos(q2);
- double robot_end_y = y01 + L_ua * sin(q1) - L_la * sin(q2);
+ double x = x01 + L_ua * cos(q1) - L_la * cos(q2);
+ double y = y01 + L_ua * sin(q1) - L_la * sin(q2);
}