Carlo Collodi / kangaroo

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   QEI mbed

Diff: src/dynamics.cpp

Revision:
39:b765b6dd01c3
Parent:
37:bf257a0154db
Child:
43:68faf056ed5c
--- a/src/dynamics.cpp	Sun Nov 24 20:38:59 2013 +0000
+++ b/src/dynamics.cpp	Tue Nov 26 19:37:55 2013 +0000
@@ -8,4 +8,10 @@
     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)) ));
     float theta2 = (float) atan2(y,x) - atan2(l3*sin(theta1), l2 + l4 + l3*cos(theta1));
     return Joints(theta1, theta2);
-}
\ No newline at end of file
+}
+
+float kinGantry (theta3){
+    float y_gplus = lg*sin(theta3);
+    float y_plus = y_gplus-l1;
+    return h+y_plus;  
+    }
\ No newline at end of file