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Kent LKdoje

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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
Created Nov 10, 2018
Lab 2 code
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
Created Nov 8, 2018
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):
Created Nov 6, 2018
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 =#
Created Sep 18, 2018
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
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]);
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];
Created Aug 30, 2018
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; }
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