Arthur de Lange / Mbed 2 deprecated Kinematics_Project_G5

Kinematica

Dependencies:   Matrix MatrixMath mbed

Diff: main.cpp

Revision:
0:cc8312f7a22d
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 26 10:43:31 2017 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+#include "Matrix.h"
+#include "MatrixMath.h"
+ 
+// constantes
+float L1 = 0.250;
+float L2 = 0.355;
+float L3 = 0.150;
+
+float T = 0.5; // Sample tijd EMG meting
+
+Matrix Jda(2,3);
+
+// Reference position
+float q1_1 = 0;
+float q2_1 = 0;
+float q1_2
+float q2_2
+
+// EMG Input
+float vx 
+float vy 
+
+
+// Calculating q_set
+void Kinematics ()
+    {
+        q1_1 = q1_2;
+        q2_1 = q2_2;
+        
+        Jda << -L1*cos(q1_1)-L2*sin(q2_1)) << -L2*sin(q2_1)
+            <<-L1*sin(q1_1)+L2*cos(q2_1)+L3) << L2*cos(q2_1))+L3;
+    
+        
+
+int main()
+{
+
+}
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