66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
#ifndef ROBOT_MATH_HPP
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#define ROBOT_MATH_HPP
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#define PI 3.14159265359
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#define PIdiv2 PI/2
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const float shoulder_and_elbow_length = 125;
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const float shoulder_plus_elbow_length = shoulder_and_elbow_length * 2;
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const float wrist_length = 190;
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class Vec2 {
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public:
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Vec2(float _x, float _y) : x(_x), y(_y) {}
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float x,y;
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};
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class Vec4 {
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public:
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Vec4(float _x, float _y, float _z, float _w) : x(_x), y(_y), z(_z), w(_w) {}
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Vec4 to_rotation(){
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float base_angle = atan2(x, y);
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float wRAD = w * PI / 180;
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// take the wrist into account
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Vec2 target_position = Vec2(hypotf(x, y) - sin(wRAD) * wrist_length, -z + cos(wRAD) * wrist_length);
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/////// shoulder and elbow angles calculations ///////
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// calculate distance beetween the arm base and the target position and then clamp it to 1
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float target_base_distance = hypotf(target_position.x, target_position.y) / shoulder_plus_elbow_length;
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if (target_base_distance > 1) {
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target_base_distance = 1;
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}
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// set shoulder angle to arm bend angle from distance from target position to base position
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float shoulder_angle = asin(target_base_distance);
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// calculate shoulder angle from the shoulder angle before performing another calculation on it
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float elbow_angle = PI - (shoulder_angle * 2);
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// add angle beetween the target position and the base position to the shoulder angle
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shoulder_angle += atan2(target_position.y, target_position.x);
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///////// wrist angle calculation ///////
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float shoulder_plus_elbow_angle = shoulder_angle + elbow_angle; // shoulder angle + elbow angle
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//Serial.println(shoulder_plus_elbow_angle);
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//Serial.println(wRAD);
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float wrist_angle = wRAD - shoulder_plus_elbow_angle; // # target wrist angle - shoulder_plus_elbow_angle so the wrist angle is always fixes to the base rotation
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return Vec4(base_angle * 180 / PI, shoulder_angle * 180 / PI + 90, elbow_angle * 180 / PI + 90, wrist_angle * 180 / PI + 90);
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}
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void print(){
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//Serial.println(x);
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Serial.println(y);
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Serial.println(z);
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Serial.println(w);
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Serial.println("==================");
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}
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float x,y,z,w;
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};
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#endif |