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%% Kent Libby question 1 matlab script | |
L=.2; % in meters | |
end_point=[6 7]; % in meters | |
R=5; % in meters | |
D=sqrt(end_point(1)^2+end_point(2)^2) | |
%% This calculates angle of the arc the robot travels | |
arc=acos((-D^2+R^2+R^2)/(2*R*R)) % in radians | |
dt=20 % in seconds | |
omega=-arc/dt | |
%% This finds the wheel speeds based off radius and omega |
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#!/usr/bin/env python | |
import math | |
import copy | |
import numpy | |
import rospy | |
from nav_msgs.msg import Odometry | |
from geometry_msgs.msg import PoseStamped, Twist, Pose, PoseWithCovariance | |
from geometry_msgs.msg import Quaternion |
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""" | |
@Author Kent Libby | |
This was compiled against python 2 | |
To run the script use python2 Hwk2.py | |
""" | |
import random | |
import math | |
def create_array(num_items): |
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#= | |
Kent Libby Homework 2, 11/03/18 | |
=# | |
clearconsole() | |
using Plots; gr() | |
#= | |
Excercise 1.1: | |
1. The formula needed is V=omega(rad/s)*Diameter/2 | |
=# |
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function [DH] = dhOutput(a, alp, d, th) | |
DH = [cosd(th), -sind(th)*cosd(alp), sind(th)*sind(alp), a*cosd(th); | |
sind(th), cosd(th)*cosd(alp), -cosd(th)*sind(alp), a*sind(th); | |
0, sind(alp), cosd(alp), d; | |
0, 0, 0, 1]; | |
end |
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function [joints]= ikin(x, y, z) | |
%% TODO update these with the robot params | |
theta1=0; | |
theta2=0; | |
theta3=90; | |
curPos=zeros(3,1); | |
L1 = 135; L2 = 175; L3 = 169.28; | |
%% Creates a jacobian then uses the difference between the locations to give the theta values to move to | |
J1=cross([0;0;1], [L2*cosd(theta2) + L3*cosd(theta3); L2*sind(theta2)+L3*sind(theta3); L1]); | |
J2=cross([sind(theta1); -cosd(theta1); 0], [L2*cosd(theta2) + L3*cosd(theta3); L2*sind(theta2)+L3*sind(theta3); 0]); |
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%% For this function, z is defined to be the axis coming out of the plane the base is on (z is up) | |
%This uses degrees | |
function p = fwkin(t1, t2, t3) | |
L1=135; | |
L2=175; | |
L3=169.28; | |
TX12=[cosd(t1) -sind(t1) 0 0; | |
sind(t1) cosd(t1) 0 0; | |
0 0 1 L1; | |
0 0 0 1]; |
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#include "DummyServer.h" | |
void DummyServer::event(float * buffer){ | |
for(int i = 0; i < myPumberOfPidChannels; i++) | |
{ | |
buffer[(i*3)+0] = 0; | |
buffer[(i*3)+1] = 0; | |
buffer[(i*3)+2] = 0; | |
} |