Craig Evans
Library to control a 3DOF robotic leg. Specify an [x,y,z] co-ordinate and the library will solve the inverse kinematic equations to calculate the required servo pulse widths to position the foot at the target location.
History
Added default robotic leg dimensions.
2015-05-25, by eencae [Mon, 25 May 2015 15:04:57 +0000] rev 6
Added default robotic leg dimensions.
Updated library so that the target is sent to the solve_inverse_kinematic() function which then returns the required angles in a vector struct. These angles are then passed to the move() function. This means the angles can now be stored in a LUT.
2015-05-25, by eencae [Mon, 25 May 2015 14:14:23 +0000] rev 5
Updated library so that the target is sent to the solve_inverse_kinematic() function which then returns the required angles in a vector struct. These angles are then passed to the move() function. This means the angles can now be stored in a LUT.
Fixed spelling mistake in #include
2015-05-25, by eencae [Mon, 25 May 2015 13:53:41 +0000] rev 4
Fixed spelling mistake in #include
Moved utils.h into a library so it can be imported into multiple other libraries.
2015-05-25, by eencae [Mon, 25 May 2015 13:51:38 +0000] rev 3
Moved utils.h into a library so it can be imported into multiple other libraries.
Moved structs and constants to utils.h header file to avoid redeclaration when using other libraries.
2015-05-25, by eencae [Mon, 25 May 2015 13:03:22 +0000] rev 2
Moved structs and constants to utils.h header file to avoid redeclaration when using other libraries.
Fixed struct declaration
2015-05-25, by eencae [Mon, 25 May 2015 12:35:25 +0000] rev 1
Fixed struct declaration
Initial commit.; ; Library to control a 3DOF robotic leg. Solves IK and is able to position foot at specified [x,y,z] coordinate.
2015-05-24, by eencae [Sun, 24 May 2015 11:25:59 +0000] rev 0
Initial commit.; ; Library to control a 3DOF robotic leg. Solves IK and is able to position foot at specified [x,y,z] coordinate.