Diff: kinematics.h

Revision:

4:778bc352c47f

Child:

5:01e1e68309ae

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kinematics.h	Sun Oct 07 19:40:12 2018 +0000
@@ -0,0 +1,60 @@
+#ifndef KINEMATICS_H
+#define KINEMATICS_H
+#include "odrive.h"
+#include "Axis.h"
+#include <math.h>
+#include "calibration.h"
+#include "comms.h"
+#include "DeltaKinematics.h"
+
+
+
+
+ 
+ // trigonometric constants
+ const float sqrt3 = sqrt(3.0);
+ const float pi = 3.141592653;    // PI
+ const float sin120 = sqrt3/2.0;   
+ const float cos120 = -0.5;        
+ const float tan60 = sqrt3;
+ const float sin30 = 0.5;
+ const float tan30 = 1/sqrt3;
+
+class Kinematics
+{
+public:
+    Kinematics(Axis* A_, Axis* B_, Axis* C_,calVals calibration_);
+    int goToPos(float x, float y, float z);
+    void goToAngles(float a, float b, float c);
+    void goToPosVel(float x, float y, float z, float xv, float yv, float zv);
+    void activateMotors();
+    void homeMotors();
+    void updateCalibration(calVals calibration_);
+    DeltaKinematics<float>* DK;
+
+
+private:
+    float e ;    // end effector
+    float f;     // base
+    float re;
+    float rf;
+    int delta_calcInverse(float x0, float y0, float z0, float &theta1, float &theta2, float &theta3);
+    void delta_calcInverseDy(float x0, float y0, float z0, float vx0, float vy0, float vz0, float &theta1, float &theta2, float &theta3,float &vtheta1, float &vtheta2, float &vtheta3);
+    int delta_calcForward(float theta1, float theta2, float theta3, float &x0, float &y0, float &z0);
+    int delta_calcAngleYZ(float x0, float y0, float z0, float &theta);
+    Axis* A;
+    Axis* B;
+    Axis* C;
+
+
+};
+
+
+
+
+
+
+
+
+
+#endif // KINEMATICS_H
\ No newline at end of file