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.
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)