Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

Diff: geometry.h

Revision:
17:1aabad4ad986
Parent:
7:a80cb6b06320
--- a/geometry.h	Thu Nov 03 15:36:26 2016 +0000
+++ b/geometry.h	Thu Nov 03 15:59:30 2016 +0000
@@ -1,3 +1,31 @@
+
+/* The setup:
+ 
+   -   +C---\    r1 = (30 -- 50)
+   |   |     ----\
+   |   |          ----\
+   |   |               ---\
+ d=30  +D-  -  -  -  -  -  +B
+   |   |               ---/
+   |   |          ----/
+   |   |     ----/
+   -   +A---/    r2 = (30 -- 50)
+   |   |
+   |   |
+   |   |
+ h=20  |
+   |   |
+   |   |
+   |   |
+   -   O
+   
+   xB = DB
+   yB = OD = h + 0.5*d
+ 
+*/
+
+
+
 /*
     Constants
 */
@@ -6,7 +34,7 @@
 const float L_min = 30.0;   // Min arm length
 
 const float d = 30.0;       // Distance between arm centres of rotation 
-const float h = 30.0;       // Height of lower arm centre of rotation                       TODO -- Determine
+const float h = 20.0;       // Height of lower arm centre of rotation
 
 const float reach = 2*sqrt(pow(L_max,2)-pow(L_min,2))-d;    // Total length of wall that can be covered