Tess Groeneveld / Mbed 2 deprecated Inversekinematica

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

main.cpp@0:ff7b9471ae82, 2013-10-31 (annotated)

Committer:
Tess
Date:
Thu Oct 31 15:01:47 2013 +0000
Revision:
0:ff7b9471ae82
Yeah doesn't work. inverse kinematics

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tess 0:ff7b9471ae82 1 #include "mbed.h"
Tess 0:ff7b9471ae82 2 #include "math.h"
Tess 0:ff7b9471ae82 3
Tess 0:ff7b9471ae82 4 AnalogIn EMG1(PTB0);
Tess 0:ff7b9471ae82 5 AnalogIn EMG2(PTB1);
Tess 0:ff7b9471ae82 6 AnalogIn EMG3(PTB2);
Tess 0:ff7b9471ae82 7 AnalogIn EMG4(PTB3);
Tess 0:ff7b9471ae82 8
Tess 0:ff7b9471ae82 9 //float X_positiewaarde_waarheenwil;
Tess 0:ff7b9471ae82 10 //float Y_positiewaarde_waarheenwil;
Tess 0:ff7b9471ae82 11 //float phi_A; // motorhoek A in graden
Tess 0:ff7b9471ae82 12 //float phi_B; // motorhoek B in graden
Tess 0:ff7b9471ae82 13 float EMG_signaal_x; //ook wel x-dot, het verschil tussen flexoren en extensoren in onderarm
Tess 0:ff7b9471ae82 14 float EMG_signaal_y; // ook wel y-dot, het verschil tussen biceps en triceps
Tess 0:ff7b9471ae82 15 const float delta_t = 0.01; // tijd tussen twee meetpunten
Tess 0:ff7b9471ae82 16 float X_positiewaarde_huidig;
Tess 0:ff7b9471ae82 17 float Y_positiewaarde_huidig;
Tess 0:ff7b9471ae82 18 float lengte_arm;
Tess 0:ff7b9471ae82 19
Tess 0:ff7b9471ae82 20
Tess 0:ff7b9471ae82 21 X_positiewaarde_waarheenwil = EMG_signaal_x * delta_t + X_positiewaarde_huidig;
Tess 0:ff7b9471ae82 22 Y_positiewaarde_waarheenwil = EMG_signaal_y * delta_t + Y_positiewaarde_huidig;
Tess 0:ff7b9471ae82 23
Tess 0:ff7b9471ae82 24 phi_A = 180 - 1 / (cos(sqrt((X_positiewaarde_waarheenwil)^2 + (Y_positiewaarde_waarheenwil)^2)/(2 * lengte_arm^2)))) - 1 / tan(fabs(Y_positiewaarde_waarheenwil / X_positiewaarde_waarheenwil));
Tess 0:ff7b9471ae82 25 phi_B = 180 - 1 / (cos(sqrt((X_positiewaarde_waarheenwil)^2 + (Y_positiewaarde_waarheenwil)^2)/(2 * lengte_arm^2)))) - 1 / tan(Y_positiewaarde_waarheenwil / X_positiewaarde_waarheenwil) - 1/(cos(-(X_positiewaarde_waarheenwil^2 + Y_positiewaarde_waarheenwil^2)/(2*lengte_arm^2)+1));
Tess 0:ff7b9471ae82 26