Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Diff: help_functions/kinematics.h
- Revision:
- 29:d1e8eb135e6c
- Parent:
- 23:7d83af123c43
- Child:
- 31:393a7ec1d396
--- a/help_functions/kinematics.h Mon Oct 29 15:12:24 2018 +0000
+++ b/help_functions/kinematics.h Mon Oct 29 15:20:50 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 x = x01 + L_ua * cos(q1) - L_la * cos(q2);
- double y = y01 + L_ua * sin(q1) - L_la * sin(q2);
+ x = x01 + L_ua * cos(q1) - L_la * cos(q2);
+ y = y01 + L_ua * sin(q1) - L_la * sin(q2);
}