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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Diff: help_functions/kinematics.h
- Revision:
- 19:e1e18746d98d
- Parent:
- 6:8ff9566c91e2
- Child:
- 20:31876566d70f
--- a/help_functions/kinematics.h Fri Oct 26 10:54:16 2018 +0000
+++ b/help_functions/kinematics.h Fri Oct 26 11:04:30 2018 +0000
@@ -1,15 +1,16 @@
#include "mbed.h"
-double L1 = 0.5;
-double L2 = 0.7;
-double x01 = 0.0;
-double y01 = 0.2;
+double L_ua = 0.5; //upper arm
+double L_la = 0.7; //lower arm, attached to the end effector
+double x01 = 0.0;
+double y01 = 0.2; //height base joint
void 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);
- y = y01 + L1 * cos(q1) + L2 * sin(q1 + q2);
+ double x = x01 + L_ua * cos(q1) - L_la * cos(q2);
+ double y = y01 + L_ua * sin(q1) - L_la * sin(q2);
+
}
double inversekinematics_function(double q1, double q2, double reference) {