TreppenRobo
Prototyp V2
Dependencies: PM2_Libary
Diff: main.cpp
- Revision:
- 106:9c80285b97aa
- Parent:
- 105:440d61a4d5eb
- Child:
- 107:6b613385443e
--- a/main.cpp Sat May 14 12:11:04 2022 +0200
+++ b/main.cpp Sat May 14 12:13:02 2022 +0200
@@ -89,7 +89,7 @@
// RETURN: deg_arm = absolut Position in deg that the arm has to take.
float calc_arm_deg_for_height(int height_mm)
{
- float height_arm = height_mm - (dist_arm_ground - (dist_arm_attach_OK_griparea - dist_grappleratt_grappler_uk)); // calculates the height which only the arm has to cover (- attachement height (arm to robot) etc.)
+ float height_arm = height_mm - (dist_arm_ground - dist_arm_attach_OK_griparea); // calculates the height which only the arm has to cover (- attachement height (arm to robot) etc.)
float deg_arm = asin(height_arm / arm_length) * 180.0/pi; // calculates the absolute degrees which the arm has to reach
return deg_arm;
}