Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/dynamics.cpp@39:b765b6dd01c3, 2013-11-26 (annotated)

Committer:
sherryxy
Date:
Tue Nov 26 19:37:55 2013 +0000
Revision:
39:b765b6dd01c3
Parent:
37:bf257a0154db
Child:
43:68faf056ed5c
lengths

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);
sherryxy 39:b765b6dd01c3 11 }
sherryxy 39:b765b6dd01c3 12
sherryxy 39:b765b6dd01c3 13 float kinGantry (theta3){
sherryxy 39:b765b6dd01c3 14 float y_gplus = lg*sin(theta3);
sherryxy 39:b765b6dd01c3 15 float y_plus = y_gplus-l1;
sherryxy 39:b765b6dd01c3 16 return h+y_plus;
sherryxy 39:b765b6dd01c3 17 }