Feature inverse kinematics#23
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raubenravi wants to merge 8 commits into
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JordyAlkema
requested changes
Jun 19, 2019
| uint16_t get_angle_beta(); | ||
| /** | ||
| * @brief | ||
| * get the vector cordinates of the end effector |
| uint16_t get_angle_theta(); | ||
| /** | ||
| * @brief | ||
| * get the angle of beta after it calcualted by the |
| void set_position_end_effector(vector3i_c coordinate); | ||
| /** | ||
| * @brief | ||
| * get the angle of alhpa after it calcualted by the |
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| class calculate_inverse_kinematics_c { | ||
| private: | ||
| uint16_t arm_lengt1, arm_lengt2; |
| private: | ||
| uint16_t arm_lengt1, arm_lengt2; | ||
| vector3i_c position_end_effector; | ||
| uint16_t angle_aplha, angle_beta, angle_phi, angle_theta; |
| /** | ||
| * Robot arm constructor | ||
| */ | ||
| calculate_inverse_kinematics_c(uint16_t arm_lengt1, |
| #pragma once | ||
| #include <hwlib.hpp> | ||
| namespace r2d2::robot_arm { | ||
| class servo { |
JordyAlkema
requested changes
Jul 1, 2019
| private: | ||
| uint16_t arm_lengt1, arm_lengt2; | ||
| vector3i_c position_end_effector; | ||
| uint16_t angle_aplha, angle_beta, angle_phi, angle_theta; |
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made structure for control the 3 axis robot arms and made a function to calculate the angle`s