Austin Mitchell
Sword fighting robots WIP
ik.h@0:e8eecd4b9a3d, 2018-12-06 (annotated)
- Committer:
- amitchell41
- Date:
- Thu Dec 06 01:30:51 2018 +0000
- Revision:
- 0:e8eecd4b9a3d
Swing batta batta swing
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| amitchell41 | 0:e8eecd4b9a3d | 1 | /* meArmIK - York Hackspace May 2014 |
| amitchell41 | 0:e8eecd4b9a3d | 2 | * Inverse Kinematics solver for three degrees of freedom |
| amitchell41 | 0:e8eecd4b9a3d | 3 | * created for Phenoptix' meArm robot arm |
| amitchell41 | 0:e8eecd4b9a3d | 4 | */ |
| amitchell41 | 0:e8eecd4b9a3d | 5 | #ifndef IK_H_INCLUDED |
| amitchell41 | 0:e8eecd4b9a3d | 6 | #define IK_H_INCLUDED |
| amitchell41 | 0:e8eecd4b9a3d | 7 | |
| amitchell41 | 0:e8eecd4b9a3d | 8 | extern float L1, L2, L3; |
| amitchell41 | 0:e8eecd4b9a3d | 9 | |
| amitchell41 | 0:e8eecd4b9a3d | 10 | // Get polar coords from cartesian ones |
| amitchell41 | 0:e8eecd4b9a3d | 11 | void cart2polar(float a, float b, float& r, float& theta); |
| amitchell41 | 0:e8eecd4b9a3d | 12 | |
| amitchell41 | 0:e8eecd4b9a3d | 13 | // Get angle from a triangle using cosine rule |
| amitchell41 | 0:e8eecd4b9a3d | 14 | bool cosangle(float opp, float adj1, float adj2, float& theta); |
| amitchell41 | 0:e8eecd4b9a3d | 15 | |
| amitchell41 | 0:e8eecd4b9a3d | 16 | // Solve angles! |
| amitchell41 | 0:e8eecd4b9a3d | 17 | bool solve(float x, float y, float z, float& a0, float& a1, float& a2); |
| amitchell41 | 0:e8eecd4b9a3d | 18 | |
| amitchell41 | 0:e8eecd4b9a3d | 19 | #endif // IK_H_INCLUDED |