marijn peters
/
test_HIDScope
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Fork of
get_angles
by 
marijn peters
Revision 2:e2af01393e16, committed 2015-10-16
- Comitter:
- marijnstudent
- Date:
- Fri Oct 16 08:56:32 2015 +0000
- Parent:
- 1:a93b870d3cf8
- Commit message:
- zat een foutje in de formule
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r a93b870d3cf8 -r e2af01393e16 main.cpp
--- a/main.cpp Wed Oct 14 13:43:01 2015 +0000
+++ b/main.cpp Fri Oct 16 08:56:32 2015 +0000
@@ -9,7 +9,8 @@
const double L = 36;
const double pi = 3.1415926535897;
-
+double theta1;
+double theta2;
// functies die de hoeken berekend
void getangles(double &theta_one,double &theta_two) // xy inputs
@@ -17,7 +18,7 @@
double x = 60+ 20*potleft.read();
double y = 40+40*potright.read();
double r = sqrt(pow(L,2)+pow(L,2)); // vector naar end effector
- double alfa = acos((2*pow(L,2))/(4*L)); // alfa is de hoek tussen upper en lower arm
+ double alfa = acos((2*pow(L,2)-pow(r,2))/(4*L)); // alfa is de hoek tussen upper en lower arm
double beta = acos((pow(r,2))/(2*L*r)); // beta is de hoek tussen upper arm en r
// hoeken berekenen
theta_one = atan2(y,x)+beta;