Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

geometry.h@7:a80cb6b06320, 2016-11-02 (annotated)

Committer:
ronvbree
Date:
Wed Nov 02 16:29:13 2016 +0000
Revision:
7:a80cb6b06320
Parent:
2:fc869e45e672
Child:
17:1aabad4ad986
zyxvw

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ronvbree 2:fc869e45e672 1 /*
ronvbree 2:fc869e45e672 2 Constants
ronvbree 2:fc869e45e672 3 */
ronvbree 2:fc869e45e672 4
ronvbree 2:fc869e45e672 5 const float L_max = 50.0; // Max arm length
ronvbree 2:fc869e45e672 6 const float L_min = 30.0; // Min arm length
ronvbree 2:fc869e45e672 7
ronvbree 2:fc869e45e672 8 const float d = 30.0; // Distance between arm centres of rotation
ronvbree 2:fc869e45e672 9 const float h = 30.0; // Height of lower arm centre of rotation TODO -- Determine
ronvbree 2:fc869e45e672 10
ronvbree 2:fc869e45e672 11 const float reach = 2*sqrt(pow(L_max,2)-pow(L_min,2))-d; // Total length of wall that can be covered
ronvbree 2:fc869e45e672 12
ronvbree 2:fc869e45e672 13 const float y_max = (2*h + d)/2 + reach/2;
ronvbree 2:fc869e45e672 14 const float y_min = (2*h + d)/2 - reach/2;
ronvbree 2:fc869e45e672 15
ronvbree 2:fc869e45e672 16 const float x_min = L_min;
ronvbree 2:fc869e45e672 17 const float x_max = 0;
ronvbree 2:fc869e45e672 18
ronvbree 2:fc869e45e672 19 /*
ronvbree 2:fc869e45e672 20 Methods
ronvbree 2:fc869e45e672 21 */
ronvbree 0:494acf21d3bc 22
ronvbree 0:494acf21d3bc 23 void getArmLengthsForRollerPosition(float x, float y, float &upper, float &lower);
ronvbree 7:a80cb6b06320 24 void getRollerPositionForArmLengths(float upper, float lower, float &x, float &y);