Dependencies:
mbed
PinDetect
Diff: ik.h
- Revision:
- 0:e8eecd4b9a3d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ik.h Thu Dec 06 01:30:51 2018 +0000
@@ -0,0 +1,19 @@
+/* meArmIK - York Hackspace May 2014
+ * Inverse Kinematics solver for three degrees of freedom
+ * created for Phenoptix' meArm robot arm
+ */
+#ifndef IK_H_INCLUDED
+#define IK_H_INCLUDED
+
+extern float L1, L2, L3;
+
+// Get polar coords from cartesian ones
+void cart2polar(float a, float b, float& r, float& theta);
+
+// Get angle from a triangle using cosine rule
+bool cosangle(float opp, float adj1, float adj2, float& theta);
+
+// Solve angles!
+bool solve(float x, float y, float z, float& a0, float& a1, float& a2);
+
+#endif // IK_H_INCLUDED
\ No newline at end of file