Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

geometry.h

Committer:
ronvbree
Date:
2016-11-02
Revision:
2:fc869e45e672
Parent:
0:494acf21d3bc
Child:
7:a80cb6b06320

File content as of revision 2:fc869e45e672:

/*
    Constants
*/

const float L_max = 50.0;   // Max arm length
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 reach = 2*sqrt(pow(L_max,2)-pow(L_min,2))-d;    // Total length of wall that can be covered

const float y_max = (2*h + d)/2 + reach/2;
const float y_min = (2*h + d)/2 - reach/2;

const float x_min = L_min;
const float x_max = 0;  

/*
    Methods
*/

void getArmLengthsForRollerPosition(float x, float y, float &upper, float &lower);

float getMinimalArmLength();
float getMaximalArmLength();