mangavalk
f690f307c1
From 'hexapodV3 28-april-2012-Backup.rar'. Oud/ is the 2011 code it was based on.
158 lines
3.1 KiB
C++
158 lines
3.1 KiB
C++
//#include "WProgram.h"
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#include "InverseKinemetics.h"
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void InverseKinemetics::RL3 (int i)
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{
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l3 = sqrt(pow(abs(COR_2_IK[0+(i*3)]), 2) + pow(abs(COR_2_IK[2+(i*3)]), 2));
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}
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float InverseKinemetics::ZX (int i)
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{
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RL3(i);
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if (COR_2_IK[2+(i*3)] != 0)
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float temp = degrees(acos((float)COR_2_IK[2+(i*3)] / l3));
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else
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float temp = 90; // Math Error Protection.
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return temp;
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}
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float InverseKinemetics::TT (int i)
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{
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int x = pow(abs(COR_2_IK[0+(i*3)]), 2);
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int y = pow(abs(COR_2_IK[1+(i*3)]), 2);
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int z = pow(abs(COR_2_IK[2+(i*3)]), 2);
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s = sqrt(x + y + z);
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if (s > (l1 + l2) )
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R[i] = 3;
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float t1 = degrees(acos((pow(s, 2) + pow(COR_2_IK[1+(i*3)], 2) - pow(l3, 2))
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/ (2 * s * COR_2_IK[1+(i*3)])));
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float t2 = degrees(acos((pow(s, 2) + pow(l1, 2) - pow(l2, 2))
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/ (2 * s * l1)));
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float temp = (int)t1 + t2;
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//Serial.print("DEBUG: "); Serial.print(t1); Serial.print(", "); Serial.print(t2); Serial.print(", "); Serial.println(temp);
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return temp;
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}
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int InverseKinemetics::LL ()
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{
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int temp = degrees(acos((float)(pow(l1, 2) + pow(l2, 2) - pow(s, 2)) / (2 * l1 * l2)));
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return temp;
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}
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void InverseKinemetics::setleg (int i)
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{
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Serial.print("Set Leg ");
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Serial.println(i);
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if (i >= 3)
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{
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//Error_Coordinate(i);
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DEG_2_CON[0+(i*3)] = 180 - ZX(i);
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DEG_2_CON[1+(i*3)] = 180 - TT(i);
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DEG_2_CON[2+(i*3)] = LL();
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Error_Angle(i);
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}
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else
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{
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//Error_Coordinate(i);
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DEG_2_CON[0+(i*3)] = ZX(i);
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DEG_2_CON[1+(i*3)] = TT(i);
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DEG_2_CON[2+(i*3)] = 180 - LL();
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Error_Angle(i);
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}
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}
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void InverseKinemetics::setlegs ()
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{
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for (int i=0; i<6; i++)
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{
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setleg(i);
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}
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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("Cor: ");
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Serial.print(COR_2_IK[0+(i*3)]);
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Serial.print(", ");
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Serial.print(COR_2_IK[1+(i*3)]);
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Serial.print(", ");
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Serial.print(COR_2_IK[2+(i*3)]);
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}
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Serial.println(";");
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}
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void InverseKinemetics::Error_Angle (int i)
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{
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for (int i2=0; i2<3; i2++)
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R[i2+(i*3)] = 0;
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if (DEG_2_CON[0+(i*3)] < 0)
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R[0+(i*3)] = 1;
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if (DEG_2_CON[0+(i*3)] > 180)
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R[0+(i*3)] = 2;
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if (DEG_2_CON[1+(i*3)] < 0)
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R[1+(i*3)] = 1;
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if (DEG_2_CON[1+(i*3)] > 180)
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R[1+(i*3)] = 2;
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if (DEG_2_CON[2+(i*3)] < 0)
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R[2+(i*3)] = 1;
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if (DEG_2_CON[2+(i*3)] > 180)
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R[2+(i*3)] = 2;
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}
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void InverseKinemetics::Error_Coordinate (int i)
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{
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Ra[i] = 0;
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float temp = sqrt(pow(COR_2_IK[0+(i*3)], 2) + pow(COR_2_IK[1+(i*3)], 2) + pow(COR_2_IK[2+(i*3)], 2));
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if (temp <= 5) {
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Ra[i] = 1;
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}
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if (temp > l1 + l2) {
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Ra[i] = 2;
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}
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}
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int InverseKinemetics::CheckForErrorCor()
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{
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for (int i=1; i<19; i++)
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if (R[i-1]!=0)
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return i;
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return 0;
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}
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String InverseKinemetics::CheckForErrorCor_print()
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{
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String temp = "Error Coordinate: ";
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for (int i=0; i<18; i++)
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{
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temp = temp + (int)DEG_2_CON[i] + ", ";
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}
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temp = temp + "\nCheckForErrorCor returnd: " + CheckForErrorCor();
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return temp;
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}
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int InverseKinemetics::CheckForErrorAng()
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{
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for (int i=0; i<6; i++)
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if (Ra[i]!=0)
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return i;
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return 0;
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}
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