Erina Yamaguchi / Mbed OS jumping_leg_clicky

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Dependencies:   ExperimentServer MotorShield QEI_pmw

Files at this revision

API Documentation at this revision

Revision 29:dc2556b300a6, committed 2022-11-20

Comitter:
erinay
Date:
Sun Nov 20 18:42:59 2022 -0500
Parent:
28:925794e4178b
Commit message:
Import_Existing|

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sun Nov 20 23:16:31 2022 +0000
+++ b/main.cpp	Sun Nov 20 18:42:59 2022 -0500
@@ -171,7 +171,7 @@
 //                float Jy_th1 = l_AC*sin(th1+th2)+l_DE*sin(th1)+l_OB*sin(th1);
 //                float Jy_th2 = l_AC*sin(th1+th2);
                                 
-                // Calculate the forward kinematics (position and velocity)
+                Calculate the forward kinematics (position and velocity)
                // float xFoot = l_AC*sin(th1+th2)+l_DE*sin(th1)+l_OB*sin(th1);
 //                float yFoot = -l_AC*cos(th1+th2)-l_DE*cos(th1)-l_OB*cos(th1);
 //                float dxFoot = velocity1*(l_AC*cos(th1+th2)+l_DE*cos(th1)+l_OB*cos(th1))+velocity2*l_AC*cos(th1+th2);