mangavalk
0911543c03
From Electronics\Hexapod\Arduino sketches 2011-2012\hexapodV3 (backup 2012-07-09).
151 lines
2.8 KiB
C++
151 lines
2.8 KiB
C++
#include "InverseKinemetics.h"
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// V3.0
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//Variables
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boolean error;
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void RL3 (int i, Data *DataLine)
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{
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float x = DataLine->ServoData[i].x;
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float z = DataLine->ServoData[i].z;
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if ((x == 0) && (z == 0))
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DataLine->l3 = 0;
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else DataLine->l3 = hypot(z, x);
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if (x < 0)
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DataLine->l3 = DataLine->l3 * -1;
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}
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float O1 (int i, Data *DataLine)
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{
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RL3(i, DataLine);
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float x = DataLine->ServoData[i].x;
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float z = DataLine->ServoData[i].z;
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float r;
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if ((x != 0) & (z != 0)){
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double a = (z / x);
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return atan(a);
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}
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else
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return atan(0.0); // Math Error Protection.
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}
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float T1 (int i, Data *DataLine)
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{
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float x = DataLine->ServoData[i].x;
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float y = DataLine->ServoData[i].y;
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float z = DataLine->ServoData[i].z;
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float x2 = x * x;
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float y2 = y * y;
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float z2 = z * z;
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float l32 = DataLine->l3 * DataLine->l3;
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DataLine->s = sqrt(x2 + y2 + z2);
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float t1 = 0;
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float s2 = DataLine->s * DataLine->s;
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if ((y == 0) && (DataLine->l3 == 0))
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t1 = 0; // Math Error Protection.
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else
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t1 = (atan2(float(DataLine->l3), float(y)));
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float a = (l1 * l1) - (l2*l2) + s2;
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float b = 2 * l1 * DataLine->s;
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float t2 = acos(a / b);
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float ret = 0;
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ret = t1 + abs(t2);
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return ret;
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}
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float T3 (Data *DataLine)
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{
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return (acos(((l1*l1) + (l2*l2) - (DataLine->s*DataLine->s)) / (2 * l1 * l2)));
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}
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void setleg (int i, Data *DataLine)
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{
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Segment Seg;
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if (i < 3)
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{
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float a = ((float)90 - degrees(O1(i, DataLine)));
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float b = ((float)180 - degrees(T1(i, DataLine)));
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float c = degrees(T3(DataLine));
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if ((a >= 0) & (a <= 180)
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& (b >= 0) & (b <= 180)
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& (c >= 0) & (c <= 180))
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{
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DataLine->ServoData[i].o1 = a;
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DataLine->ServoData[i].o2 = b;
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DataLine->ServoData[i].o3 = c;
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}
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else
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{
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error = true;
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Seg.sevenSegWrite('e');
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}
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}
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else
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{
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float a = ((float)90 + degrees(O1(i, DataLine)));
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float b = degrees(T1(i, DataLine));
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float c = ((float)180 - degrees(T3(DataLine)));
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if ((a >= 0) & (a <= 180)
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& (b >= 0) & (b <= 180)
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& (c >= 0) & (c <= 180))
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{
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DataLine->ServoData[i].o1 = a;
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DataLine->ServoData[i].o2 = b;
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DataLine->ServoData[i].o3 = c;
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}
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else
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{
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error = true;
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Seg.sevenSegWrite('e');
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}
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}
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}
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void InverseKinemetics::IK(Data *DataLine)
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{
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Segment Seg;
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Seg.sevenSegWrite('o');
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error = false;
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for (int i=0; i<6; i++)
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setleg(i, DataLine);
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#ifdef DEBUGIK
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for (int i=0; i<6; i++)
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{
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if (i != 0)
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Serial.print(", ");
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else
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Serial.print("### InverseKinemetics->ServosPosition's are: ");
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Serial.print(DataLine->ServoData[i].x);
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Serial.print(", ");
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Serial.print(DataLine->ServoData[i].y);
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Serial.print(", ");
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Serial.print(DataLine->ServoData[i].z);
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}
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if (error == true)
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Serial.println("; ERROR");
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else
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Serial.println(";");
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#endif
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}
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