Ramon Waninge
/
Bioroboticsmerge
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Dependencies: MODSERIAL biquadFilter mbed
Fork of
Kinematics
by 
Eva Krolis
Diff: main.cpp
- Revision:
- 18:95611fc90411
- Parent:
- 17:e5ca1f228fc5
- Child:
- 19:c9f4e4c857e2
diff -r e5ca1f228fc5 -r 95611fc90411 main.cpp
--- a/main.cpp Wed Oct 31 18:01:43 2018 +0000
+++ b/main.cpp Wed Oct 31 18:36:35 2018 +0000
@@ -12,6 +12,7 @@
// nog te verwijderen/ aan te passen, zijn dubbel gedefinieerd
+
//Joe dit zijn de inputsignalen (en tussenvariabelen)
//vorige theta
float theta1 = PI*0.49; // huidige/nieuwe theta
@@ -87,111 +88,100 @@
//Hieronder rekenen we eerst de aparte dingen van de jacobiaan uit. (sla maar over)
- jacobiana = (500*(-(ll*(sin(theta1) - sin(0.001 - theta4)))/2. - ((-(xbase/ll) + cos(theta1) + cos(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
- ((-xbase + ll*(cos(theta1) + cos(0.001 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + (ll*(sin(theta1) + sin(0.001 + theta4)))/2.))/
- (250000*((lb + xbase + ll*(cos(0.001 + theta1) - cos(theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(0.001 + theta1) + sin(theta4)))/
- sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
- (-lb - xbase - ll*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
- (-(ll*(sin(theta1) - sin(0.001 - theta4)))/2. - ((-(xbase/ll) + cos(theta1) + cos(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
- ((-xbase + ll*(cos(theta1) + cos(0.001 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + (ll*(sin(theta1) + sin(0.001 + theta4)))/2.) -
- 250000*(((-xbase + ll*(cos(0.001 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - (ll*(-sin(0.001 - theta1) + sin(theta4)))/2. + (ll*(sin(0.001 + theta1) + sin(theta4)))/2. -
- ((-xbase + ll*(cos(0.001 - theta1) + cos(theta4)))*sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
- ((-lb - xbase - ll*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
- (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
+ jacobiana = (500*(-100*(sin(theta1) - sin(0.001 - theta4)) - ((-1.7 + cos(theta1) + cos(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
+ ((-340 + 200*(cos(theta1) + cos(0.001 + theta4)))*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
+ (20.*sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + 100*(sin(theta1) + sin(0.001 + theta4))))/
+ (250000*((350 + 200*(cos(0.001 + theta1) - cos(theta4)) + (20*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(0.001 + theta1) + sin(theta4)))/
+ sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
+ (-350 - 200*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
+ sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
+ (-100*(sin(theta1) - sin(0.001 - theta4)) - ((-1.7 + cos(theta1) + cos(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
+ ((-340 + 200*(cos(theta1) + cos(0.001 + theta4)))*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
+ (20.*sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + 100*(sin(theta1) + sin(0.001 + theta4))) -
+ 250000*(((-340 + 200*(cos(0.001 + theta1) + cos(theta4)))*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
+ (20.*sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - 100*(-sin(0.001 - theta1) + sin(theta4)) + 100*(sin(0.001 + theta1) + sin(theta4)) -
+ ((-340 + 200*(cos(0.001 - theta1) + cos(theta4)))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
+ (200.*sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
+ ((-350 - 200*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
+ (350 + 200*(cos(theta1) - cos(0.001 + theta4)) + (20*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(theta1) + sin(0.001 + theta4)))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
jacobianb = (-500*((-lb - xbase - ll*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
- (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.))/
- (250000*((lb + xbase + ll*(cos(0.001 + theta1) - cos(theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*
- (-sin(0.001 + theta1) + sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
- (-lb - xbase - ll*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
- (-(ll*(sin(theta1) - sin(0.001 - theta4)))/2. - ((-(xbase/ll) + cos(theta1) + cos(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
- ((-xbase + ll*(cos(theta1) + cos(0.001 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + (ll*(sin(theta1) + sin(0.001 + theta4)))/2.) -
- 250000*(((-xbase + ll*(cos(0.001 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - (ll*(-sin(0.001 - theta1) + sin(theta4)))/2. + (ll*(sin(0.001 + theta1) + sin(theta4)))/2. -
- ((-xbase + ll*(cos(0.001 - theta1) + cos(theta4)))*sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
- ((-lb - xbase - ll*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
- (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
+ sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
+ (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.))/
+ (250000*((lb + xbase + ll*(cos(0.001 + theta1) - cos(theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*
+ (-sin(0.001 + theta1) + sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
+ (-lb - xbase - ll*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*
+ sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
+ sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
+ (-(ll*(sin(theta1) - sin(0.001 - theta4)))/2. - ((-(xbase/ll) + cos(theta1) + cos(0.001 - theta4))*
+ sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
+ ((-xbase + ll*(cos(theta1) + cos(0.001 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
+ (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + (ll*(sin(theta1) + sin(0.001 + theta4)))/2.) -
+ 250000*(((-xbase + ll*(cos(0.001 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
+ (ll*sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - (ll*(-sin(0.001 - theta1) + sin(theta4)))/2. + (ll*(sin(0.001 + theta1) + sin(theta4)))/2. -
+ ((-xbase + ll*(cos(0.001 - theta1) + cos(theta4)))*sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
+ (ll*sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
+ ((-lb - xbase - ll*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*
+ sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
+ (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
+ sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
- jacobianc = (-500*(((-xbase + ll*(cos(0.001 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - (ll*(-sin(0.001 - theta1) + sin(theta4)))/2. + (ll*(sin(0.001 + theta1) + sin(theta4)))/2. -
- ((-xbase + ll*(cos(0.001 - theta1) + cos(theta4)))*sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))))/
- (250000*((lb + xbase + ll*(cos(0.001 + theta1) - cos(theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*
- (-sin(0.001 + theta1) + sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
- (-lb - xbase - ll*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
- (-(ll*(sin(theta1) - sin(0.001 - theta4)))/2. - ((-(xbase/ll) + cos(theta1) + cos(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
- ((-xbase + ll*(cos(theta1) + cos(0.001 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + (ll*(sin(theta1) + sin(0.001 + theta4)))/2.) -
- 250000*(((-xbase + ll*(cos(0.001 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - (ll*(-sin(0.001 - theta1) + sin(theta4)))/2. + (ll*(sin(0.001 + theta1) + sin(theta4)))/2. -
- ((-xbase + ll*(cos(0.001 - theta1) + cos(theta4)))*sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
- ((-lb - xbase - ll*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
- (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
+ jacobianc = (-500*(((-340 + 200*(cos(0.001 + theta1) + cos(theta4)))*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
+ (20.*sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - 100*(-sin(0.001 - theta1) + sin(theta4)) + 100*(sin(0.001 + theta1) + sin(theta4)) -
+ ((-340 + 200*(cos(0.001 - theta1) + cos(theta4)))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
+ (200.*sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))))/
+ (250000*((350 + 200*(cos(0.001 + theta1) - cos(theta4)) + (20*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(0.001 + theta1) + sin(theta4)))/
+ sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
+ (-350 - 200*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
+ sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
+ (-100*(sin(theta1) - sin(0.001 - theta4)) - ((-1.7 + cos(theta1) + cos(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
+ ((-340 + 200*(cos(theta1) + cos(0.001 + theta4)))*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
+ (20.*sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + 100*(sin(theta1) + sin(0.001 + theta4))) -
+ 250000*(((-340 + 200*(cos(0.001 + theta1) + cos(theta4)))*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
+ (20.*sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - 100*(-sin(0.001 - theta1) + sin(theta4)) + 100*(sin(0.001 + theta1) + sin(theta4)) -
+ ((-340 + 200*(cos(0.001 - theta1) + cos(theta4)))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
+ (200.*sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
+ ((-350 - 200*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
+ (350 + 200*(cos(theta1) - cos(0.001 + theta4)) + (20*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(theta1) + sin(0.001 + theta4)))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
- jacobiand = (500*((lb + xbase + ll*(cos(0.001 + theta1) - cos(theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(0.001 + theta1) + sin(theta4)))/
- sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
- (-lb - xbase - ll*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.))/
- (250000*((lb + xbase + ll*(cos(0.001 + theta1) - cos(theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*
- (-sin(0.001 + theta1) + sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
- (-lb - xbase - ll*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
- (-(ll*(sin(theta1) - sin(0.001 - theta4)))/2. - ((-(xbase/ll) + cos(theta1) + cos(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
- ((-xbase + ll*(cos(theta1) + cos(0.001 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + (ll*(sin(theta1) + sin(0.001 + theta4)))/2.) -
- 250000*(((-xbase + ll*(cos(0.001 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - (ll*(-sin(0.001 - theta1) + sin(theta4)))/2. + (ll*(sin(0.001 + theta1) + sin(theta4)))/2. -
- ((-xbase + ll*(cos(0.001 - theta1) + cos(theta4)))*sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
- (ll*sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
- ((-lb - xbase - ll*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*
- sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
- (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
- sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
-
+ jacobiand = (500*((350 + 200*(cos(0.001 + theta1) - cos(theta4)) + (20*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(0.001 + theta1) + sin(theta4)))/
+ sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
+ (-350 - 200*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
+ sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.))/
+ (250000*((350 + 200*(cos(0.001 + theta1) - cos(theta4)) + (20*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(0.001 + theta1) + sin(theta4)))/
+ sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. +
+ (-350 - 200*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
+ sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
+ (-100*(sin(theta1) - sin(0.001 - theta4)) - ((-1.7 + cos(theta1) + cos(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) +
+ ((-340 + 200*(cos(theta1) + cos(0.001 + theta4)))*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
+ (20.*sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + 100*(sin(theta1) + sin(0.001 + theta4))) -
+ 250000*(((-340 + 200*(cos(0.001 + theta1) + cos(theta4)))*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
+ (20.*sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - 100*(-sin(0.001 - theta1) + sin(theta4)) + 100*(sin(0.001 + theta1) + sin(theta4)) -
+ ((-340 + 200*(cos(0.001 - theta1) + cos(theta4)))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
+ (200.*sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
+ ((-350 - 200*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. +
+ (350 + 200*(cos(theta1) - cos(0.001 + theta4)) + (20*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(theta1) + sin(0.001 + theta4)))/
+ sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
//vanaf hier weer door met lezen!
prefx = 1*(!button1); //sw3, dit is belangrijk! prefx staat voor P_(reference) en het is de snelheid van de endeffector als
// de button ingedrukt wordt (als emg = boven treshold) is de prefx 1 (da's de rode 1)
prefy = 1*(!button2); //sw2,
inverse(prefx, prefy);
- ledr!=ledr;
+
+ ledr=!ledr;
}
@@ -240,14 +230,14 @@
theta4 = PI*0.49;
pc.baud(115200);
//default = theta1 = theta4 = pi/2,
- emgcheck.attach(kinematics, 0.0085); // roep de ticker aan (
-
+ emgcheck.attach(kinematics, 0.005); // roep de ticker aan (
+ ledr = 1;
pc.printf("%f", theta1);
while(true) {
pc.printf("\n\r %f %f \n\r %f %f", theta4,theta1, xend, yend); // in teraterm zijn de bovenste twee waardes hoeken, de onderste twee zijn de x en y coordinaat
- wait(0.5);//anders krijg je DOEZEND waardes...
+ wait(1);//anders krijg je DOEZEND waardes...
}