Arthur de Lange / Mbed 2 deprecated Kinematics_Project_G5

Kinematica

Dependencies:   Matrix MatrixMath mbed

Files at this revision

API Documentation at this revision

Revision 0:cc8312f7a22d, committed 2017-10-26

Comitter:
arthurdelange
Date:
Thu Oct 26 10:43:31 2017 +0000
Commit message:
Begin

Changed in this revision

Matrix.lib Show annotated file Show diff for this revision Revisions of this file
MatrixMath.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r cc8312f7a22d Matrix.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Matrix.lib	Thu Oct 26 10:43:31 2017 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/Yo_Robot/code/Matrix/#a4014ab0a8cf

diff -r 000000000000 -r cc8312f7a22d MatrixMath.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MatrixMath.lib	Thu Oct 26 10:43:31 2017 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/Yo_Robot/code/MatrixMath/#93948a9bbde2

diff -r 000000000000 -r cc8312f7a22d main.cpp
--- /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()
+{
+
+}
\ No newline at end of file

diff -r 000000000000 -r cc8312f7a22d mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Oct 26 10:43:31 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/fb8e0ae1cceb
\ No newline at end of file