Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

actuators.cpp@124:f67ce69557db, 2015-10-29 (annotated)

Committer:
annesteenbeek
Date:
Thu Oct 29 18:23:08 2015 +0100
Revision:
124:f67ce69557db
Parent:
121:6d8f1bdcda05
Child:
127:831f03471efb
added serial communication interface

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 13:4837b36b9a68 1 #include "actuators.h"
annesteenbeek 13:4837b36b9a68 2 #include "PID.h"
annesteenbeek 13:4837b36b9a68 3 #include "mbed.h"
annesteenbeek 13:4837b36b9a68 4 #include "config.h"
annesteenbeek 13:4837b36b9a68 5 #include "encoder.h"
annesteenbeek 25:874675516927 6 #include "HIDScope.h"
annesteenbeek 107:de47331612d9 7 #include "buttons.h"
annesteenbeek 107:de47331612d9 8 #include "Servo.h"
annesteenbeek 98:25528494287d 9
annesteenbeek 109:026abd708dce 10 // Motor control constants
annesteenbeek 109:026abd708dce 11 #define pwm_frequency 50000 // still High, could be lowered
annesteenbeek 109:026abd708dce 12 #define PI 3.14159265
annesteenbeek 106:1773bf7b95c5 13
annesteenbeek 109:026abd708dce 14 // functions for controlling the motors
annesteenbeek 109:026abd708dce 15 bool motorsEnable = false;
annesteenbeek 109:026abd708dce 16 bool safetyOn = true;
annesteenbeek 76:0aa90e728e4a 17
annesteenbeek 6:b957d8809e7c 18
annesteenbeek 109:026abd708dce 19 double encoder1Counts = 0;
annesteenbeek 109:026abd708dce 20 double encoder2Counts = 0;
annesteenbeek 68:21cb054f1399 21
annesteenbeek 109:026abd708dce 22 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 109:026abd708dce 23 bool direction2 = false;
annesteenbeek 6:b957d8809e7c 24
annesteenbeek 109:026abd708dce 25 double motor1Pos = 0;
annesteenbeek 109:026abd708dce 26 double motor2Pos = 0;
annesteenbeek 6:b957d8809e7c 27
annesteenbeek 109:026abd708dce 28 double motor1Speed = 0;
annesteenbeek 109:026abd708dce 29 double motor2Speed = 0;
annesteenbeek 6:b957d8809e7c 30
annesteenbeek 109:026abd708dce 31 double motor1SetSpeed = 0;
annesteenbeek 109:026abd708dce 32 double motor2SetSpeed = 0;
annesteenbeek 6:b957d8809e7c 33
annesteenbeek 118:49605b5bd802 34 double setXSpeed = 0;
annesteenbeek 118:49605b5bd802 35 double setYSpeed = 0;
annesteenbeek 118:49605b5bd802 36
annesteenbeek 109:026abd708dce 37 double motor1PWM = 0;
annesteenbeek 109:026abd708dce 38 double motor2PWM = 0;
annesteenbeek 6:b957d8809e7c 39
annesteenbeek 109:026abd708dce 40 // Set PID values
annesteenbeek 124:f67ce69557db 41 double Kp1 = 0.008;
annesteenbeek 124:f67ce69557db 42 double Ki1 = 0.08;
annesteenbeek 109:026abd708dce 43 double Kd1 = 0;
annesteenbeek 0:525558a26464 44
annesteenbeek 109:026abd708dce 45 double Kp2 = 0.008;
annesteenbeek 109:026abd708dce 46 double Ki2 = 0.08;
annesteenbeek 109:026abd708dce 47 double Kd2 = 0;
annesteenbeek 20:3cba803cd771 48
annesteenbeek 109:026abd708dce 49 double motor1PrevCounts = 0;
annesteenbeek 109:026abd708dce 50 double motor2PrevCounts = 0;
annesteenbeek 109:026abd708dce 51 double prevTime = 0;
annesteenbeek 109:026abd708dce 52 double now = 0;
annesteenbeek 109:026abd708dce 53 double timechange;
annesteenbeek 109:026abd708dce 54
annesteenbeek 109:026abd708dce 55 // Set servo values
annesteenbeek 110:a6439e13be8b 56 double servoSpeed = 0;
annesteenbeek 109:026abd708dce 57 const int servoStartPos = 1300; // Servo ranges from 600ms(-90) to 2000ms(90), 1300 is 0 deg
annesteenbeek 26:0a9e4147a31a 58
annesteenbeek 109:026abd708dce 59 // Create object instances
annesteenbeek 109:026abd708dce 60 // Safety Pin
annesteenbeek 109:026abd708dce 61 DigitalIn safetyIn(safetyPin);
annesteenbeek 32:2006977785f5 62
annesteenbeek 109:026abd708dce 63 // Initialze motors
annesteenbeek 109:026abd708dce 64 PwmOut motor1(motor1PWMPin);
annesteenbeek 109:026abd708dce 65 PwmOut motor2(motor2PWMPin);
annesteenbeek 109:026abd708dce 66
annesteenbeek 109:026abd708dce 67 // initialize Servo
annesteenbeek 109:026abd708dce 68 Servo servo(servoPin);
annesteenbeek 98:25528494287d 69
annesteenbeek 98:25528494287d 70
annesteenbeek 109:026abd708dce 71 // Initialize encoders
annesteenbeek 109:026abd708dce 72 Encoder encoder1(enc1A, enc1B);
annesteenbeek 109:026abd708dce 73 Encoder encoder2(enc2A, enc2B);
annesteenbeek 25:874675516927 74
annesteenbeek 109:026abd708dce 75 // Set direction pins
annesteenbeek 109:026abd708dce 76 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 109:026abd708dce 77 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 26:0a9e4147a31a 78
annesteenbeek 109:026abd708dce 79 // create PID instances
annesteenbeek 109:026abd708dce 80 PID motor1PID(&motor1Speed, &motor1PWM, &motor1SetSpeed, Kp1, Ki1, Kd1);
annesteenbeek 109:026abd708dce 81 PID motor2PID(&motor2Speed, &motor2PWM, &motor2SetSpeed, Kp2, Ki2, Kd2);
annesteenbeek 31:8fbee6c92753 82
annesteenbeek 109:026abd708dce 83 Timer t;
annesteenbeek 25:874675516927 84
annesteenbeek 25:874675516927 85 void motorInit(){
annesteenbeek 25:874675516927 86
annesteenbeek 3:47c76be6d402 87 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 88 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 89
annesteenbeek 3:47c76be6d402 90 // Set motor PWM period
annesteenbeek 3:47c76be6d402 91 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 92 motor2.period(1/pwm_frequency);
annesteenbeek 55:ee5257fb73df 93
annesteenbeek 55:ee5257fb73df 94 motor1PID.SetSampleTime(motorCall);
annesteenbeek 55:ee5257fb73df 95 motor2PID.SetSampleTime(motorCall);
annesteenbeek 55:ee5257fb73df 96
annesteenbeek 69:37f75a7d36d8 97 motor1PID.SetOutputLimits(0,1);
annesteenbeek 69:37f75a7d36d8 98 motor2PID.SetOutputLimits(0,1);
annesteenbeek 69:37f75a7d36d8 99
annesteenbeek 30:a20f16bf8dda 100 // Turn PID on
annesteenbeek 55:ee5257fb73df 101 motor1PID.SetMode(AUTOMATIC);
annesteenbeek 55:ee5257fb73df 102 motor2PID.SetMode(AUTOMATIC);
annesteenbeek 98:25528494287d 103
annesteenbeek 98:25528494287d 104 // set servo period
annesteenbeek 107:de47331612d9 105 servo.Enable(servoStartPos, 20000);
annesteenbeek 98:25528494287d 106
annesteenbeek 30:a20f16bf8dda 107 // start the timer
annesteenbeek 29:e4f3455aaa0b 108 t.start();
annesteenbeek 4:80e2280058ed 109 }
annesteenbeek 0:525558a26464 110
annesteenbeek 26:0a9e4147a31a 111
annesteenbeek 0:525558a26464 112 void motorControl(){
annesteenbeek 107:de47331612d9 113 // EMG signals to motor speeds
annesteenbeek 124:f67ce69557db 114 if(!usePotmeters && controlAngle){
annesteenbeek 124:f67ce69557db 115 double scaleVel = 20;
annesteenbeek 124:f67ce69557db 116 motor1SetSpeed = x_velocity*scaleVel;
annesteenbeek 124:f67ce69557db 117 motor2SetSpeed = y_velocity*scaleVel;
annesteenbeek 124:f67ce69557db 118 servoSpeed = z_velocity*scaleVel;
annesteenbeek 124:f67ce69557db 119 }
annesteenbeek 124:f67ce69557db 120 if(!usePotmeters && controlDirection){
annesteenbeek 124:f67ce69557db 121 double scaleVel = 0.1;
annesteenbeek 124:f67ce69557db 122 setXSpeed = x_velocity*scaleVel;
annesteenbeek 124:f67ce69557db 123 setYSpeed = y_velocity*scaleVel;
annesteenbeek 124:f67ce69557db 124 servoSpeed = z_velocity*scaleVel;
annesteenbeek 124:f67ce69557db 125 }
annesteenbeek 30:a20f16bf8dda 126 // get encoder positions in degrees
annesteenbeek 30:a20f16bf8dda 127 // 131.25:1 gear ratio
annesteenbeek 30:a20f16bf8dda 128 // getPosition uses X2 configuration, so 32 counts per revolution
annesteenbeek 30:a20f16bf8dda 129 // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive
annesteenbeek 68:21cb054f1399 130
annesteenbeek 68:21cb054f1399 131 encoder1Counts = encoder1.getPosition();
annesteenbeek 68:21cb054f1399 132 encoder2Counts = encoder2.getPosition();
annesteenbeek 68:21cb054f1399 133
annesteenbeek 111:43c0881fe7e7 134 motor1Pos = ((encoder1Counts/32)/131.25)*360;
annesteenbeek 111:43c0881fe7e7 135 motor2Pos = ((encoder2Counts/32)/131.25)*360;
annesteenbeek 3:47c76be6d402 136
annesteenbeek 0:525558a26464 137 // check if motor's are within rotational boundarys
annesteenbeek 30:a20f16bf8dda 138 // get encoder speeds in deg/sec
annesteenbeek 66:d1ab5904f8e5 139 now = t.read();
annesteenbeek 50:b0cf07ca53cf 140 timechange = (now - prevTime);
annesteenbeek 111:43c0881fe7e7 141 motor1Speed = ((((encoder1Counts - motor1PrevCounts)/32)/131.25)*360)/timechange;
annesteenbeek 111:43c0881fe7e7 142 motor2Speed = ((((encoder2Counts - motor2PrevCounts)/32)/131.25)*360)/timechange;
annesteenbeek 50:b0cf07ca53cf 143 prevTime = now;
annesteenbeek 68:21cb054f1399 144 motor1PrevCounts = encoder1Counts;
annesteenbeek 68:21cb054f1399 145 motor2PrevCounts = encoder2Counts;
annesteenbeek 29:e4f3455aaa0b 146
annesteenbeek 31:8fbee6c92753 147 // calculate motor setpoint speed in deg/sec from setpoint x/y speed
annesteenbeek 30:a20f16bf8dda 148
annesteenbeek 112:7b964afb97b4 149 // exclude kinematics when still calibrating
annesteenbeek 124:f67ce69557db 150 if (calReady && !controlAngle){
annesteenbeek 112:7b964afb97b4 151 kinematics();
annesteenbeek 112:7b964afb97b4 152 }
annesteenbeek 112:7b964afb97b4 153
annesteenbeek 48:3cf1eaf34926 154 if(motorsEnable){ // only run motors if switch is enabled
annesteenbeek 32:2006977785f5 155 // compute new PID parameters using setpoint angle speeds and encoder speed
annesteenbeek 31:8fbee6c92753 156 writeMotors();
annesteenbeek 98:25528494287d 157 servoControl();
annesteenbeek 0:525558a26464 158 }else{
annesteenbeek 0:525558a26464 159 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 160 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 161 motor2.write(0);
annesteenbeek 0:525558a26464 162 }
annesteenbeek 0:525558a26464 163 }
annesteenbeek 0:525558a26464 164
annesteenbeek 31:8fbee6c92753 165 void writeMotors(){
annesteenbeek 54:c14c3bc48b8a 166 motor1PID.Compute(); // calculate PID outputs, output changes automatically
annesteenbeek 76:0aa90e728e4a 167 motor2PID.Compute();
annesteenbeek 31:8fbee6c92753 168 // write new values to motor's
annesteenbeek 124:f67ce69557db 169 if (motor1SetSpeed ==0 ){
annesteenbeek 124:f67ce69557db 170 motor1PID.SetOutputLimits(0,0);
annesteenbeek 124:f67ce69557db 171 }
annesteenbeek 82:4cc8f9ad3fec 172 if (motor1SetSpeed > 0 ){ // CCW rotation
annesteenbeek 111:43c0881fe7e7 173 direction1 = true;
annesteenbeek 84:df770ec4df61 174 motor1PID.SetOutputLimits(0,1); // change pid output direction
annesteenbeek 31:8fbee6c92753 175 }else{
annesteenbeek 111:43c0881fe7e7 176 direction1 = false; // CW rotation
annesteenbeek 83:8fa05f53fc73 177 motor1PID.SetOutputLimits(-1,0);
annesteenbeek 31:8fbee6c92753 178 }
annesteenbeek 124:f67ce69557db 179 if (motor2SetSpeed ==0 ){
annesteenbeek 124:f67ce69557db 180 motor2PID.SetOutputLimits(0,0);
annesteenbeek 124:f67ce69557db 181 }
annesteenbeek 82:4cc8f9ad3fec 182 if (motor2SetSpeed > 0 ){ // CCW rotation
annesteenbeek 111:43c0881fe7e7 183 direction2 = true;
annesteenbeek 83:8fa05f53fc73 184 motor2PID.SetOutputLimits(0,1);
annesteenbeek 68:21cb054f1399 185 }else{
annesteenbeek 111:43c0881fe7e7 186 direction2 = false; // CW rotation
annesteenbeek 83:8fa05f53fc73 187 motor2PID.SetOutputLimits(-1,0);
annesteenbeek 68:21cb054f1399 188 }
annesteenbeek 31:8fbee6c92753 189 motor1Dir.write(direction1);
annesteenbeek 31:8fbee6c92753 190 motor2Dir.write(direction2);
annesteenbeek 69:37f75a7d36d8 191
annesteenbeek 52:2ac9dee099ce 192 motor1.write(abs(motor1PWM));
annesteenbeek 76:0aa90e728e4a 193 motor2.write(abs(motor2PWM));
annesteenbeek 31:8fbee6c92753 194 }
annesteenbeek 31:8fbee6c92753 195
annesteenbeek 0:525558a26464 196 void servoControl(){
annesteenbeek 107:de47331612d9 197 servo.SetPosition(1300 + 700*servoSpeed);
annesteenbeek 25:874675516927 198 }
annesteenbeek 25:874675516927 199
annesteenbeek 112:7b964afb97b4 200 const double motor1StartPos = (-10*32*131.25)/360; // angle to encoder counts
annesteenbeek 124:f67ce69557db 201 const double motor2StartPos = (120*32*131.25)/360;
annesteenbeek 124:f67ce69557db 202
annesteenbeek 124:f67ce69557db 203 // Set calibration values
annesteenbeek 124:f67ce69557db 204 double motor1CalSpeed = -10; // deg/sec
annesteenbeek 124:f67ce69557db 205 double motor2CalSpeed = 5;
annesteenbeek 124:f67ce69557db 206 bool springHit = false;
annesteenbeek 124:f67ce69557db 207 float lastCall = 0;
annesteenbeek 124:f67ce69557db 208 bool calibrating1 = true;
annesteenbeek 124:f67ce69557db 209 bool calibrating2 = false;
annesteenbeek 124:f67ce69557db 210 double looseTime = 0;
annesteenbeek 112:7b964afb97b4 211
annesteenbeek 106:1773bf7b95c5 212 bool calibrateMotors(){
annesteenbeek 98:25528494287d 213 safetyOn = false; // safety springs off
annesteenbeek 98:25528494287d 214 motorsEnable = true; // motors on
annesteenbeek 98:25528494287d 215 while (calibrating1 || calibrating2){
annesteenbeek 98:25528494287d 216 if (calibrating1){
annesteenbeek 111:43c0881fe7e7 217 motor1SetSpeed = motor1CalSpeed;
annesteenbeek 98:25528494287d 218 redLed.write(1); greenLed.write(0); blueLed.write(1);
annesteenbeek 111:43c0881fe7e7 219 if(safetyIn.read() !=1 && !springHit){ // check if arm reached safety position
annesteenbeek 112:7b964afb97b4 220 encoder1.setPosition(motor1StartPos); // set motor 1 cal angle
annesteenbeek 112:7b964afb97b4 221 motor1PrevCounts = motor1StartPos; // set previous count to prevent speed spike
annesteenbeek 111:43c0881fe7e7 222 motor1CalSpeed = -motor1CalSpeed; // move away
annesteenbeek 98:25528494287d 223 springHit = true;
annesteenbeek 111:43c0881fe7e7 224 looseTime = t.read(); // timer to compensate spring movement
annesteenbeek 98:25528494287d 225 }else{
annesteenbeek 111:43c0881fe7e7 226 // if hit and after is no longer touching spring and 0.5seconds passed
annesteenbeek 111:43c0881fe7e7 227 if(springHit && ((t.read() - looseTime) > 2)){
annesteenbeek 98:25528494287d 228 motor1SetSpeed = 0;
annesteenbeek 98:25528494287d 229 springHit = false;
annesteenbeek 111:43c0881fe7e7 230 calibrating2 = true; // start calibrating 2
annesteenbeek 98:25528494287d 231 calibrating1 = false;
annesteenbeek 98:25528494287d 232 }
annesteenbeek 98:25528494287d 233 }
annesteenbeek 98:25528494287d 234 }
annesteenbeek 98:25528494287d 235 if (calibrating2){
annesteenbeek 111:43c0881fe7e7 236 motor2SetSpeed = motor2CalSpeed;
annesteenbeek 98:25528494287d 237 redLed.write(1); greenLed.write(1); blueLed.write(0);
annesteenbeek 111:43c0881fe7e7 238 if(safetyIn.read() !=1 && !springHit){ // check if arm reached safety position
annesteenbeek 112:7b964afb97b4 239 encoder2.setPosition(motor2StartPos); // set motor 2 cal angle
annesteenbeek 112:7b964afb97b4 240 motor2PrevCounts = motor2StartPos; // set previous cunt to prevent speed spike
annesteenbeek 111:43c0881fe7e7 241 motor2CalSpeed = -motor2CalSpeed; // move away
annesteenbeek 98:25528494287d 242 springHit = true;
annesteenbeek 111:43c0881fe7e7 243 looseTime = t.read();
annesteenbeek 98:25528494287d 244 }else{
annesteenbeek 111:43c0881fe7e7 245 if(springHit && ((t.read() - looseTime) > 2)){
annesteenbeek 98:25528494287d 246 motor2SetSpeed = 0;
annesteenbeek 98:25528494287d 247 springHit = false;
annesteenbeek 98:25528494287d 248 calibrating2 = false; // stop calibrating 2
annesteenbeek 98:25528494287d 249 }
annesteenbeek 98:25528494287d 250 }
annesteenbeek 98:25528494287d 251 }
annesteenbeek 111:43c0881fe7e7 252 // now = t.read(); // call motor using timer instead of wait
annesteenbeek 111:43c0881fe7e7 253 // if(now - lastCall > motorCall){
annesteenbeek 98:25528494287d 254 motorControl();
annesteenbeek 111:43c0881fe7e7 255 wait(motorCall); // keep calling PID's with motorCall frequency
annesteenbeek 111:43c0881fe7e7 256 // lastCall = now;
annesteenbeek 111:43c0881fe7e7 257 // }
annesteenbeek 98:25528494287d 258
annesteenbeek 98:25528494287d 259 }
annesteenbeek 111:43c0881fe7e7 260 redLed.write(0); greenLed.write(1); blueLed.write(1);
annesteenbeek 99:7030e9790b1d 261 motorsEnable = false; // turn motor's off again
annesteenbeek 76:0aa90e728e4a 262 safetyOn = true; // turn safety on after callibration
annesteenbeek 110:a6439e13be8b 263 return true; // return true when finished
annesteenbeek 74:75be98779124 264 }
annesteenbeek 74:75be98779124 265
annesteenbeek 74:75be98779124 266
annesteenbeek 74:75be98779124 267 void safety(){
annesteenbeek 74:75be98779124 268 if (safetyOn){
annesteenbeek 81:71e7e98deb2c 269 if (safetyIn.read() != 1){
annesteenbeek 79:cf500b63f349 270 motorsEnable = false;
annesteenbeek 79:cf500b63f349 271 }
annesteenbeek 74:75be98779124 272 }
annesteenbeek 79:cf500b63f349 273 }
annesteenbeek 106:1773bf7b95c5 274
annesteenbeek 112:7b964afb97b4 275 const double L1 = 0.436; // first arm in m
annesteenbeek 112:7b964afb97b4 276 const double L2 = 0.120; // first arm in m
annesteenbeek 112:7b964afb97b4 277 const double L3 = 0.255; // servo arm in m
annesteenbeek 112:7b964afb97b4 278 const double Xmax = 0.3;
annesteenbeek 120:440f1516101b 279 const double Xmin = -0.3;
annesteenbeek 112:7b964afb97b4 280 const double Ymax = 0.645;
annesteenbeek 112:7b964afb97b4 281 const double Ymin = 0.33;
annesteenbeek 121:6d8f1bdcda05 282 double Xpos = 0; // set values
annesteenbeek 124:f67ce69557db 283 double Ypos = 0;
annesteenbeek 106:1773bf7b95c5 284
annesteenbeek 112:7b964afb97b4 285
annesteenbeek 106:1773bf7b95c5 286
annesteenbeek 112:7b964afb97b4 287 bool kinematics(){
annesteenbeek 112:7b964afb97b4 288 // calculate current x and Y
annesteenbeek 121:6d8f1bdcda05 289 Xpos = (L2+L3)*cos((motor1Pos + motor2Pos)*PI/180) + L1*cos(motor1Pos*PI/180);
annesteenbeek 121:6d8f1bdcda05 290 Ypos = (L2+L3)*sin((motor1Pos + motor2Pos)*PI/180) + L1*sin(motor1Pos*PI/180);
annesteenbeek 112:7b964afb97b4 291 // check if x and y are within limits
annesteenbeek 112:7b964afb97b4 292 // else Store the constraint line
annesteenbeek 112:7b964afb97b4 293 // check if movement is in direction of constraint
annesteenbeek 112:7b964afb97b4 294 // else return false no movement (anglespeed = 0)
annesteenbeek 112:7b964afb97b4 295 // calculate required angle speeds
annesteenbeek 121:6d8f1bdcda05 296 if( (Xpos>Xmax && setXSpeed > 0 )|| \
annesteenbeek 121:6d8f1bdcda05 297 (Xpos<Xmin && setXSpeed < 0 )|| \
annesteenbeek 121:6d8f1bdcda05 298 (Ypos>Ymax && setYSpeed > 0 )|| \
annesteenbeek 121:6d8f1bdcda05 299 (Ypos<Ymin && setYSpeed < 0 ) \
annesteenbeek 112:7b964afb97b4 300 ){
annesteenbeek 112:7b964afb97b4 301 motor1SetSpeed = 0;
annesteenbeek 112:7b964afb97b4 302 motor2SetSpeed = 0;
annesteenbeek 112:7b964afb97b4 303 return false;
annesteenbeek 112:7b964afb97b4 304 }
annesteenbeek 124:f67ce69557db 305 motor1SetSpeed = (180/PI)*((setXSpeed*cos((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 124:f67ce69557db 306 setYSpeed*sin((motor1Pos + motor2Pos)*PI/180))/(L1*sin(motor2Pos*PI/180)));
annesteenbeek 124:f67ce69557db 307 motor2SetSpeed = (180/PI)*(-(setXSpeed*(L2+L3)*cos((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 112:7b964afb97b4 308 setYSpeed*(L2+L3)*sin((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 112:7b964afb97b4 309 setXSpeed*L1*cos(motor1Pos*PI/180) + \
annesteenbeek 124:f67ce69557db 310 setYSpeed*L1*sin(motor1Pos*PI/180))/(L1*(L2+L3)*sin(motor2Pos*PI/180)));
annesteenbeek 120:440f1516101b 311 return true;
annesteenbeek 112:7b964afb97b4 312
annesteenbeek 112:7b964afb97b4 313 }