Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/dynamics.cpp@38:922f2584bdfd, 2013-11-26 (annotated)

Committer:
calamaridudeman
Date:
Tue Nov 26 04:42:39 2013 +0000
Revision:
38:922f2584bdfd
Parent:
37:bf257a0154db 
motors now move!  Unknown cause, pwm freq is now being set just before every setting of duty cycle, not sure why this is needed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 21:a9569c7b4379 1 #include "mbed.h"
calamaridudeman 23:112c0be5a7f3 2 #include "include/dynamics.hpp"
calamaridudeman 16:c21df8c0c458 3
calamaridudeman 37:bf257a0154db 4
calamaridudeman 37:bf257a0154db 5 Joints invKinBody(Point &in){
calamaridudeman 37:bf257a0154db 6 float x=in.x;
calamaridudeman 37:bf257a0154db 7 float y=in.y;
calamaridudeman 37:bf257a0154db 8 float theta1 = (float) 2 * atan(sqrt( ( (l2+l3+l4)*(l2+l3+l4) - x*x - y*y) / (x*x + y*y - (l2+l4-l3)*(l2+l4-l3)) ));
calamaridudeman 37:bf257a0154db 9 float theta2 = (float) atan2(y,x) - atan2(l3*sin(theta1), l2 + l4 + l3*cos(theta1));
calamaridudeman 37:bf257a0154db 10 return Joints(theta1, theta2);
calamaridudeman 38:922f2584bdfd 11 }
calamaridudeman 38:922f2584bdfd 12