Ted Parrott / Mbed 2 deprecated biaxial_ankle_tilt

NA

Dependencies:   AX12 mbed

Fork of AX12-HelloWorld by Chris Styles

main.cpp@2:3d159bed27c1, 2017-11-16 (annotated)

Committer:
tedparrott6
Date:
Thu Nov 16 14:56:50 2017 +0000
Revision:
2:3d159bed27c1
Parent:
1:b12b06e2fc2d 
NA

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:f6f8cf11779f 1 #include "mbed.h"
chris 0:f6f8cf11779f 2 #include "AX12.h"
chris 0:f6f8cf11779f 3
chris 0:f6f8cf11779f 4 int main() {
chris 0:f6f8cf11779f 5
tedparrott6 2:3d159bed27c1 6 AX12 m7 (p28, p27, 7);
tedparrott6 2:3d159bed27c1 7 AX12 m8 (p28, p27, 8);
tedparrott6 2:3d159bed27c1 8 Serial pc(USBTX,USBRX);
tedparrott6 2:3d159bed27c1 9 float theta_a_x;
tedparrott6 2:3d159bed27c1 10 float theta_a_y;
tedparrott6 2:3d159bed27c1 11 float theta_a_x_rad;
tedparrott6 2:3d159bed27c1 12 float theta_8_x ;
tedparrott6 2:3d159bed27c1 13 float theta_7_x;
tedparrott6 2:3d159bed27c1 14 float theta_a_y_rad;
tedparrott6 2:3d159bed27c1 15 float theta_7_y;
tedparrott6 2:3d159bed27c1 16 float theta_8_r_y;
tedparrott6 2:3d159bed27c1 17 float theta_8_y;
tedparrott6 2:3d159bed27c1 18 float theta_7_m;
tedparrott6 2:3d159bed27c1 19 float theta_8_m;
tedparrott6 2:3d159bed27c1 20
tedparrott6 2:3d159bed27c1 21 m7.SetGoal(150);
tedparrott6 2:3d159bed27c1 22 wait(1);
tedparrott6 2:3d159bed27c1 23 m8.SetGoal(150);
tedparrott6 2:3d159bed27c1 24 wait(1);
tedparrott6 2:3d159bed27c1 25
chris 0:f6f8cf11779f 26 while (1) {
tedparrott6 2:3d159bed27c1 27 theta_a_x = 0;
tedparrott6 2:3d159bed27c1 28 theta_a_x_rad = theta_a_x*(3.14159/180);
tedparrott6 2:3d159bed27c1 29 theta_8_x = (theta_a_x/0.34);
tedparrott6 2:3d159bed27c1 30 theta_7_x = ((180/3.14159)*(asin((11.4/8)*theta_a_x_rad)));
tedparrott6 2:3d159bed27c1 31
tedparrott6 2:3d159bed27c1 32 theta_a_y = 0;
tedparrott6 2:3d159bed27c1 33 theta_a_y_rad = theta_a_y*3.14159/180;
tedparrott6 2:3d159bed27c1 34 theta_7_y = -1.43*theta_a_y;
tedparrott6 2:3d159bed27c1 35 theta_8_r_y = -asin((20.94/8)*sin(theta_a_y_rad));
tedparrott6 2:3d159bed27c1 36 theta_8_y= (theta_8_r_y*180/3.14159);
tedparrott6 2:3d159bed27c1 37
tedparrott6 2:3d159bed27c1 38 theta_7_m = 150 + theta_7_x + theta_7_y;
tedparrott6 2:3d159bed27c1 39 theta_8_m = 150 - theta_8_x + theta_8_y;
tedparrott6 2:3d159bed27c1 40 m7.SetGoal(theta_7_m);
tedparrott6 2:3d159bed27c1 41 m8.SetGoal(theta_8_m);
tedparrott6 2:3d159bed27c1 42 pc.printf("\n\r7m: %05f 8m: %05f",theta_7_m,theta_8_m);
chris 0:f6f8cf11779f 43 }
chris 0:f6f8cf11779f 44 }