|
1 | 1 | /** |
2 | 2 | ****************************************************************************** |
3 | 3 | * @file uArmParams.h |
4 | | - * @author David.Long |
| 4 | + * @author David.Long |
5 | 5 | * @email xiaokun.long@ufactory.cc |
6 | 6 | * @date 2017-03-15 |
7 | 7 | ****************************************************************************** |
|
48 | 48 |
|
49 | 49 |
|
50 | 50 | #define MATH_PI 3.141592653589793238463 |
51 | | -#define MATH_TRANS 57.2958 |
52 | | -#define MATH_L1 106.6 //90.00 |
53 | | -#define MATH_L2 13.2 //21.17 |
54 | | -#define MATH_LOWER_ARM 142.07 //148.25 |
55 | | -#define MATH_UPPER_ARM 158.81 //158.8 //160.2 |
| 51 | + |
| 52 | +// this is just 180/PI, i.e. degrees per radian |
| 53 | +#define MATH_TRANS 57.2958 |
| 54 | + |
| 55 | +// these seem to be offset constants |
| 56 | +// MATH_L1 seems to correspond to the height of the shoulder joint |
| 57 | +#define MATH_L1 106.6 //90.00 |
| 58 | + |
| 59 | +// MATH_L2 seems to be the X offset of the shoulder joint from the Z rotation |
| 60 | +// axis |
| 61 | +#define MATH_L2 13.2 //21.17 |
| 62 | + |
| 63 | +// MATH_LOWER_ARM is the length of the lower arm in mm |
| 64 | +#define MATH_LOWER_ARM 142.07 //148.25 |
| 65 | + |
| 66 | +// MATH_UPPER_ARM is the length of the upper arm in mm |
| 67 | +#define MATH_UPPER_ARM 158.81 //158.8 //160.2 |
| 68 | + |
56 | 69 | //#define MATH_FRONT_HEADER 69//(29.4+38.6)//43.75) //25.00// the distance between wrist to the front point we use |
57 | 70 | #define MATH_UPPER_LOWER MATH_UPPER_ARM/MATH_LOWER_ARM |
58 | 71 |
|
|
61 | 74 | #define WORKING 1 |
62 | 75 | #define GRABBING 2 |
63 | 76 |
|
64 | | -#define PUMP_GRABBING_CURRENT 70 |
| 77 | +#define PUMP_GRABBING_CURRENT 70 |
65 | 78 |
|
66 | 79 | #define RESULT_BUFFER_SIZE 128 |
67 | 80 |
|
|
0 commit comments