Biorobotics 7 / Mbed 2 deprecated Forward_kinematics

Forward Kinematics

Dependencies:   MODSERIAL Matrix mbed

Files at this revision

API Documentation at this revision

Revision 3:c006b3e9a41c, committed 2018-10-31

Comitter:
MAHCSnijders
Date:
Wed Oct 31 08:28:57 2018 +0000
Parent:
2:92aeffa6b16e
Child:
4:6db7291caa6d
Commit message:
Changed eta to theta (naming difference with inverse kinematics)

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Oct 30 15:33:51 2018 +0000
+++ b/main.cpp	Wed Oct 31 08:28:57 2018 +0000
@@ -62,8 +62,8 @@
     float omega = PI - xhi;                                       // Angle between L4 and L5
     float n = sqrt(pow(L4,2) + pow(L5,2) - 2*L4*L5*cos(omega));          // Radius between end effector and motor 1
 
-    float eta = acos( (pow(L4,2) - pow(L5,2) + pow(n,2))/(2*n*L4) );          // Angle between n and L4
-    float rho = PI - eta - motor_angle1;                              // Angle between n and L4
+    float theta = acos( (pow(L4,2) - pow(L5,2) + pow(n,2))/(2*n*L4) );          // Angle between n and L4
+    float rho = PI - theta - motor_angle1;                              // Angle between n and L4
 
     float Pe_x = L6 - n*cos(rho);                                 // y-coordinate end-effector
     float Pe_y = n*sin(rho);                                      // x-coordinate end-effector