File content as of revision 3:09f6061e6e5d:

#include<iostream>
#include<cmath>

#include "mbed.h"

const double pi=3.1415;
class robo
{
public:
    robo(double a, double b,double x1,double y1,double z1);
    void setrobo(double *dest,int c);
    void syschange();//坐标变换
    void degcalculate();//三舵机角度计算
    void droute(double a);//直线路径
    void croute(double a);//曲线路径
    void dexcute(double *p);//直线执行
    void cexcute(double *p);//曲线执行
    double argcalculate(double x, double y);//求反正切对应角度
private://两组六个原始坐标，两组六个柱坐标下参数，两个机械臂常数，两组六个个机械臂转角，三个转角差，中间过程点直角坐标与柱坐标
    double X1;
    double Y1;
    double Z1;
    double X2;
    double Y2;
    double Z2;
    
    double P1;
    double H1;
    double Fai1;
    double P2;
    double H2;
    double Fai2;
    
    double A;
    double B;
    
    double faia1;
    double faia2;
    double faia3;
    double faib1;
    double faib2;
    double faib3;
    double fai1;
    double fai2;
    double fai3;
    
    double delta1;
    double delta2;
    double delta3;
    
    double P;
    double fai;
    double H;
    
    double x;
    double y;
    double z;

    
};

robo::robo(double a, double b,double x1,double y1,double z1)
{
    A=a;
    B=b;
    X1=x1;
    Y1=y1;
    Z1=z1;
    X2=x1;
    Y2=y1;
    Z2=z1;
/*    cout<<"please input the first parameter A:";
    cin>>A;
    cout<<"please input the second parameter B:";
    cin>>B;
    */
};
void robo::setrobo(double *dest,int c)
{
    X1 = X2;
    Y1 = Y2;
    Z1 = Z2;    
    X2=dest[0];
    Y2=dest[1];
    Z2=dest[2];
    syschange();
    degcalculate();
    if(c==1)
    {
        dexcute(dest);
    }
    else cexcute(dest);
}
double robo::argcalculate(double x, double y)
{
    double a;
    if(x>0.000001||x<-0.000001)
    {
        if(x>0&&y>=0)
        {
            a=atan(y/x);
        }
        else if (x>0&&y<0)
        {
            a=2*pi+atan(y/x);
        }
        else
        {
            a=pi+atan(y/x);
        }
    }
    else
    {
        if(y>0)
        {
            a=pi/2;
        }
        else
        {
            a=3*pi/2;
        }
    }
  /*  cout<<"输入坐标为："<<x<<","<<y<<endl;
    cout<<"对应柱坐标弧度为："<<a<<endl;
    cout<<"对应角度为："<<a/pi*180<<endl;
    cout<<endl;
    */return a;
}
void robo::syschange()//Fai1、Fai2范围0-360°
{
    P1=sqrt(X1*X1+Y1*Y1);
    P2=sqrt(X2*X2+Y2*Y2);
    H1=Z1;
    H2=Z2;
    Fai1=argcalculate(X1,Y1);
    Fai2=argcalculate(X2,Y2);
  /*  cout<<"起始点对应柱坐标为："<<P1<<","<<Fai1/pi*180<<","<<H1<<endl;
    cout<<endl;
    cout<<"终止点对应柱坐标为："<<P2<<","<<Fai2/pi*180<<","<<H2<<endl;
    cout<<endl;
*/
}
void robo::degcalculate()
{
    double p2_h2_1=P1*P1+H1*H1;//计算始末的角度参数
    double sqrT1=sqrt(p2_h2_1);
    double a1=(A*A+P1*P1+H1*H1-B*B)/(2*A*sqrT1);
    double a2=P1/sqrT1;
    double b1=a1;
    double b2=(A*A-B*B-P1*P1-H1*H1)/(2*B*sqrT1);
    faia2=pi-asin(a1)-asin(a2);
    faia3=asin(b1)-asin(b2);
    faia1=Fai1;
    double p2_h2_2=P2*P2+H2*H2;
    double sqrT2=sqrt(p2_h2_2);
    double c1=(A*A+P2*P2+H2*H2-B*B)/(2*A*sqrT2);
    double c2=P2/sqrT2;
    double d1=c1;
    double d2=(A*A-B*B-P2*P2-H2*H2)/(2*B*sqrT2);
    faib2=pi-asin(c1)-asin(c2);
    faib3=asin(d1)-asin(d2);
    faib1=Fai2;
/*    cout<<"起始点对应姿态为："<<faia1<<" "<<faia2<<" "<<faia3<<endl;
    cout<<endl;
    cout<<"终止点对应姿态为："<<faib1<<" "<<faib2<<" "<<faib3<<endl;
    cout<<endl;
*/
}
void robo::droute(double a)
{
    if(a<0||a>1){
//        cout<<"WRONG!"<<endl;
    }
    else
    {
  //      cout<<"开始直线规划！"<<endl;
    P=sqrt(a*a*P2*P2+(1-a)*(1-a)*P1*P1+2*a*(1-a)*P1*P2*cos(Fai2-Fai1));
    H=H1+a*(H2-H1);
    double deg1=a*P2*sin(Fai2-pi/2)+(1-a)*P1*sin(Fai1-pi/2);
    double deg2=a*P2*cos(Fai2-pi/2)+(1-a)*P1*cos(Fai1-pi/2);
    if(deg1>-0.00000001&&deg1<0.00000001)
    {
        deg1=0;
        if(deg2>-0.00000001&&deg2<0.00000001)
        {
            deg2=0;
        }
    }
    else if (deg2>-0.00000001&&deg2<0.00000001)
    {
        deg2=0;
    }
//  cout<<cos(Fai1)<<endl; 角度累计计算有误差
    if(deg1>=0)
    {
        if(deg2==0)
        {
            fai=pi/2;
        }
        else
        {
            if(deg2>0)
            {
                fai=atan(deg1/deg2);
            }
            else
            {
                fai=pi+atan(deg1/deg2);
            }
        }
    }
    else
    {
        if(deg2==0)
        {
            fai=3*pi/2;
        }
        else
        {
            if(deg2>0)
            {
                fai=2*pi+atan(deg1/deg2);
            }
            else
            {
                fai=pi+atan(deg1/deg2);
            }
        }
    }
  //  cout<<"两个参数deg1、deg2分别为："<<deg1<<" "<<deg2<<endl;
    double p2_h2=P*P+H*H;//计算末端三个角度参数
    double sqrT=sqrt(p2_h2);
    double a1=(A*A+P*P+H*H-B*B)/(2*A*sqrT);
    double a2=P/sqrT;
    double b1=(A*A+P*P+H*H-B*B)/(2*A*sqrT);
    double b2=(A*A-B*B-P*P-H*H)/(2*B*sqrT);
    faia1=fai1;
    faia2=fai2;
    faia3=fai3;
    fai2=pi-asin(a1)-asin(a2);
    fai3=asin(b1)-asin(b2);
    fai1=fai;
    delta1=fai1-faia1;
    delta2=fai2-faia2;
    delta3=fai3-faia3;
/*    cout<<"运动百分比："<<a*100<<"%"<<endl;
    cout<<"末端位置为："<<P<<" "<<fai<<" "<<H<<endl;
    cout<<"末端姿态为："<<fai1<<" "<<fai2<<" "<<fai3<<endl;
    cout<<"转动弧度为："<<delta1<<" "<<delta2<<" "<<delta3<<endl;
    cout<<"转动角度为："<<delta1*180/pi<<" "<<delta2*180/pi<<" "<<delta3*180/pi<<endl;
  */  }
    
}
void robo::croute(double a)
{
    if(a<0||a>1){
//        cout<<"WRONG!"<<endl;
    }
    else
    {
        cout<<endl;
        cout<<endl;
  //      cout<<"开始曲线规划！"<<endl;
        double alpha;
        double r=sqrt((X2-X1)*(X2-X1)+(Y2-Y1)*(Y2-Y1))/2;
        if((X1-X2)!=0)
        {
            if(Y1>Y2)
            {
                if(X1>X2)
                {
                    alpha=pi+atan((Y1-Y2)/(X1-X2));
                }
                else
                {
                    alpha=2*pi+atan((Y1-Y2)/(X1-X2));
                }
            }
            else
            {
                if(X1<X2)
                {
                    alpha=atan((Y1-Y2)/(X1-X2));
                }
                else
                {
                    alpha=pi+atan((Y1-Y2)/(X1-X2));
                }
            }
        }
        else
        {
            if(Y1>Y2)
            {
                alpha=3*pi/2;
            }
            else
            {
                alpha=pi/2;
            }
        }
  //      cout<<"夹角参数为："<<alpha<<endl;
        double xita=a*pi;
        if(alpha>=0&&alpha<=(pi/2))
        {
            x=(X1+X2)/2-r*cos(xita-alpha);
            y=(Y1+Y2)/2+r*sin(xita-alpha);
            z=Z1;
        }
        else
        {
            x=(X1+X2)/2-r*cos(xita+alpha);
            y=(Y1+Y2)/2-r*sin(xita+alpha);
            z=Z1;
        }
        if(x>-0.00000001&&x<0.00000001)
        {
            x=0;
        }
   //     cout<<"圆弧直角坐标为："<<x<<" "<<y<<" "<<z<<" "<<endl;
        fai=argcalculate(x,y);
        double p2=x*x+y*y;
        P=sqrt(p2);
        H=z;
        double p2_h2=P*P+H*H;//计算末端三个角度参数
        double sqrT=sqrt(p2_h2);
        double a1=(A*A+P*P+H*H-B*B)/(2*A*sqrT);
        double a2=P/sqrT;
        double b1=(A*A+P*P+H*H-B*B)/(2*A*sqrT);
        double b2=(A*A-B*B-P*P-H*H)/(2*B*sqrT);
        fai2=pi-asin(a1)-asin(a2);
        fai3=asin(b1)-asin(b2);
        fai1=fai;
        delta1=fai1-faia1;
        delta2=fai2-faia2;
        delta3=fai3-faia3;
 /*       cout<<"运动百分比："<<a*100<<"%"<<endl;
        cout<<"中间圆弧位置为："<<P<<" "<<fai<<" "<<H<<endl;
        cout<<"中间姿态为："<<fai1<<" "<<fai2<<" "<<fai3<<endl;
        cout<<"转动角度为："<<delta1<<" "<<delta2<<" "<<delta3<<endl;
 */       }
}

void robo::dexcute(double *p)
{
    double i=0;
    int j = 0;
    while(i<=1)
    {
        droute(i);
        //myServo1.rotate(fai1/pi*180);
        //myServo2.rotate(fai2/pi*180);
        //myServo3.rotate(fai3/pi*180);
        //wait(0.5);
        p[j]=delta1;
        p[j+1]=delta2;
        p[j+2]=delta3;
        j = j + 3;
        
        i=i+0.1;
    //    cout<<"正在执行步数："<<i*10<<endl;
    }
}
void robo::cexcute(double *p)
{
    double i=0;
    int j = 0;
    while(i<=1)
    {
        croute(i);
       // double deg1=fai1/pi*180;
        //myServo1.rotate(delta/pi*180);
        //myServo2.rotate(fai2/pi*180);
        //myServo3.rotate(fai3/pi*180);
        //wait(0.5);
//      cout<<"正在执行步数："<<i*10<<endl;
        p[j]=delta1;
        p[j+1]=delta2;
        p[j+2]=delta3;
        j = j + 3;
        
        i=i+0.1;
        
//      cout<<"已旋转角度："<<deg1<<endl;
    }
}