Arthur de Lange / Mbed 2 deprecated Kinematics_Project_G5

Kinematica

Dependencies:   Matrix MatrixMath mbed

main.cpp

Committer:
arthurdelange
Date:
2017-10-26
Revision:
0:cc8312f7a22d

File content as of revision 0:cc8312f7a22d:

#include "mbed.h"
#include "Matrix.h"
#include "MatrixMath.h"
 
// constantes
float L1 = 0.250;
float L2 = 0.355;
float L3 = 0.150;

float T = 0.5; // Sample tijd EMG meting

Matrix Jda(2,3);

// Reference position
float q1_1 = 0;
float q2_1 = 0;
float q1_2
float q2_2

// EMG Input
float vx 
float vy 


// Calculating q_set
void Kinematics ()
    {
        q1_1 = q1_2;
        q2_1 = q2_2;
        
        Jda << -L1*cos(q1_1)-L2*sin(q2_1)) << -L2*sin(q2_1)
            <<-L1*sin(q1_1)+L2*cos(q2_1)+L3) << L2*cos(q2_1))+L3;
    
        

int main()
{

}