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Dependencies: PwmIn IONMcMotor MPU6050 Eigen ROVER
Fork of
Hyfliers_Completo_testato
by 
Marco De Silva
Robots/ARM/ARM_parameters.h@6:584653235830, 2021-09-14 (annotated)
- Committer:
- anfontanelli
- Date:
- Tue Sep 14 11:18:35 2021 +0000
- Revision:
- 6:584653235830
A
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| anfontanelli | 6:584653235830 | 1 | //Kinematic param |
| anfontanelli | 6:584653235830 | 2 | /*#define a3 0.029 |
| anfontanelli | 6:584653235830 | 3 | #define a4 0.340 |
| anfontanelli | 6:584653235830 | 4 | #define a5 0.029 |
| anfontanelli | 6:584653235830 | 5 | #define a5i 0.335 |
| anfontanelli | 6:584653235830 | 6 | #define a6 0.084 |
| anfontanelli | 6:584653235830 | 7 | #define d7 -0.218 |
| anfontanelli | 6:584653235830 | 8 | |
| anfontanelli | 6:584653235830 | 9 | #define x_0_r2 0.0 |
| anfontanelli | 6:584653235830 | 10 | #define y_0_r2 -0.3 |
| anfontanelli | 6:584653235830 | 11 | #define z_0_r2 0.36*/ |
| anfontanelli | 6:584653235830 | 12 | |
| anfontanelli | 6:584653235830 | 13 | //Dynamic param |
| anfontanelli | 6:584653235830 | 14 | /*#define massr 6.0 |
| anfontanelli | 6:584653235830 | 15 | #define mpxr 0 |
| anfontanelli | 6:584653235830 | 16 | #define mpyr -1.2 |
| anfontanelli | 6:584653235830 | 17 | #define mpzr 0 |
| anfontanelli | 6:584653235830 | 18 | #define mass1 0.2 |
| anfontanelli | 6:584653235830 | 19 | #define mpx1 0.2 |
| anfontanelli | 6:584653235830 | 20 | #define mpy1 0 |
| anfontanelli | 6:584653235830 | 21 | #define mpz1 0 |
| anfontanelli | 6:584653235830 | 22 | #define mass2 0.2 |
| anfontanelli | 6:584653235830 | 23 | #define mpx2 0.2 |
| anfontanelli | 6:584653235830 | 24 | #define mpy2 0 |
| anfontanelli | 6:584653235830 | 25 | #define mpz2 0 |
| anfontanelli | 6:584653235830 | 26 | #define mass3 0.15 |
| anfontanelli | 6:584653235830 | 27 | #define mpx3 0.1 |
| anfontanelli | 6:584653235830 | 28 | #define mpy3 0 |
| anfontanelli | 6:584653235830 | 29 | #define mpz3 0 |
| anfontanelli | 6:584653235830 | 30 | #define mass4 0.1 |
| anfontanelli | 6:584653235830 | 31 | #define mpx4 0.1 |
| anfontanelli | 6:584653235830 | 32 | #define mpy4 0 |
| anfontanelli | 6:584653235830 | 33 | #define mpz4 0 |
| anfontanelli | 6:584653235830 | 34 | #define mass5 0.1 |
| anfontanelli | 6:584653235830 | 35 | #define mpx5 0.0 |
| anfontanelli | 6:584653235830 | 36 | #define mpy5 0 |
| anfontanelli | 6:584653235830 | 37 | #define mpz5 0.1 |
| anfontanelli | 6:584653235830 | 38 | #define mass6 0.2 |
| anfontanelli | 6:584653235830 | 39 | #define mpx6 0 |
| anfontanelli | 6:584653235830 | 40 | #define mpy6 0 |
| anfontanelli | 6:584653235830 | 41 | #define mpz6 0.1*/ |