Craig Evans
/
Leg
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Revision 6:a91d18a26ba3, committed 2015-05-25
- Comitter:
- eencae
- Date:
- Mon May 25 15:04:57 2015 +0000
- Parent:
- 5:1190596b8842
- Commit message:
- Added default robotic leg dimensions.
Changed in this revision
| Leg.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 1190596b8842 -r a91d18a26ba3 Leg.cpp
--- a/Leg.cpp Mon May 25 14:14:23 2015 +0000
+++ b/Leg.cpp Mon May 25 15:04:57 2015 +0000
@@ -18,6 +18,11 @@
coxa_servo->period(1.0/50.0); // servos are typically 50 Hz
// setup USB serial for debug/comms
//serial = new Serial(USBTX,USBRX);
+
+ coxa_length_ = 28.0;
+ femur_length_ = 58.0;
+ tibia_length_ = 125.0;
+
}
vector_t Leg::solve_inverse_kinematics(float x, float y, float z)