Skip to content

Instantly share code, notes, and snippets.

Kent L Kdoje

Block or report user

Report or block Kdoje

Hide content and notifications from this user.

Learn more about blocking users

Contact Support about this user’s behavior.

Learn more about reporting abuse

Report abuse
View GitHub Profile
View DummyServer.cpp
#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;
}
@Kdoje
Kdoje / fwkin.m
Created Sep 6, 2018
Kent Libby forward kinematic script
View fwkin.m
%% 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];
@Kdoje
Kdoje / ikin.m
Created Sep 13, 2018
Kent Libby's inverse kinematic solution for pre-lab3
View ikin.m
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]);
View dhOutput.m
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
View KentLibby_hwk2.jl
#=
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
=#
View Hwk2.py
"""
@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):
View robot.py
#!/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
@Kdoje
Kdoje / Question1.m
Created Nov 12, 2018
Kent Libby question 1 gist
View Question1.m
%% 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
You can’t perform that action at this time.