mangavalk
f690f307c1
From 'hexapodV3 28-april-2012-Backup.rar'. Oud/ is the 2011 code it was based on.
62 lines
1.2 KiB
C++
62 lines
1.2 KiB
C++
#ifndef InverseKinemetics_H
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#define InverseKinemetics_H
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#include "WProgram.h"
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#include <math.h>
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#include "Data_Manager.h"
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class InverseKinemetics
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{
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public:
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//
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void RL3(int i);
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float ZX (int i);
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float TT (int i);
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int LL ();
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void setlegs ();
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void setleg (int i);
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/* // Input
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void setLeftFrontLeg (int ix, int iy, int iz); // clockwise, t3=clockwise, t3=counterclockwise
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void setLeftMiddleLeg (int ix, int iy, int iz); // clockwise, t3=clockwise, t3=counterclockwise
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void setLeftBackLeg (int ix, int iy, int iz); // clockwise, t3=clockwise, t3=counterclockwise
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void setRightFrontLeg (int ix, int iy, int iz); // counterclockwise, t3=counterclockwise, t3=clockwise
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void setRightMiddleLeg(int ix, int iy, int iz); // counterclockwise, t3=counterclockwise, t3=clockwise
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void setRightBackLeg (int ix, int iy, int iz); // counterclockwise, t3=counterclockwise, t3=clockwise*/
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// 0 | 3
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// 1 | 4
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// 2 | 5
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//
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void Error_Angle (int i);
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void Error_Coordinate (int i);
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int CheckForErrorCor();
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String CheckForErrorCor_print();
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int CheckForErrorAng();
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// Variable's
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int s;
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float l3;
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byte R[18];
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byte Ra[6];
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};
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#endif
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