Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

Diff: geometry.h

Revision:
2:fc869e45e672
Parent:
0:494acf21d3bc
Child:
7:a80cb6b06320
diff -r 494acf21d3bc -r fc869e45e672 geometry.h
--- a/geometry.h	Mon Oct 31 13:05:53 2016 +0000
+++ b/geometry.h	Wed Nov 02 08:51:12 2016 +0000
@@ -1,3 +1,24 @@
+/*
+    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);