Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

geometry.cpp@29:1c5254b27851, 2016-11-04 (annotated)

Committer:
Jankoekenpan
Date:
Fri Nov 04 13:26:28 2016 +0000
Revision:
29:1c5254b27851
Parent:
7:a80cb6b06320 
documented the processEMG function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ronvbree 2:fc869e45e672 1 #include "math.h"
ronvbree 2:fc869e45e672 2 #include "geometry.h"
ronvbree 0:494acf21d3bc 3
ronvbree 0:494acf21d3bc 4 // Sets the required arm lengths in the 'upper' and 'lower' parameters
ronvbree 0:494acf21d3bc 5 void getArmLengthsForRollerPosition(float x, float y, float &upper, float &lower) {
ronvbree 0:494acf21d3bc 6 lower = sqrt(pow(y-h,2)+pow(x,2));
ronvbree 0:494acf21d3bc 7 upper = sqrt(pow(lower,2)+pow(d,2)-2*d*sqrt(pow(lower,2)-pow(x,2)));
ronvbree 0:494acf21d3bc 8 }
ronvbree 0:494acf21d3bc 9
ronvbree 0:494acf21d3bc 10 // Sets the roller position corresponding to the current arm lengths in the x and y parameters
ronvbree 0:494acf21d3bc 11 void getRollerPositionForArmLengths(float upper, float lower, float &x, float &y) {
ronvbree 7:a80cb6b06320 12 y = (pow(lower,2)-pow(upper,2)+2*h*d+pow(d,2))/(2*d);
ronvbree 7:a80cb6b06320 13 x = sqrt(-((pow(lower, 4) + pow(upper, 4))/(4*pow(d, 2)))+((pow(lower, 2)*pow(upper, 2))/(2*pow(d,2)))-(pow(upper,2)/2)+(pow(d,2)/4)+pow(lower, 2));
ronvbree 0:494acf21d3bc 14 }