![]() What do I put in the loop to make it go into the position I want? After I can figure that out I will be able to start working with the arm! I was able to delete out the remote control/keyboard parts of the code and here is what i'm left with: #include įloat A2 = acos((A*A-B*B+M*M)/((A*2)*M)) įloat Elbow = acos((A*A+B*B-M*M)/((A*2)*B)) I will delete out what they said and see if it makes a little more sense! I will post the new code when i'm finished. If(Arm(tmpx, tmpy, tmpz, tmpg, tmpwa, tmpwr))Īrm(tmpx, tmpy, tmpz, tmpg, tmpwa, tmpwr) Gripper.write(max(Gripper.read() - 2, 90)) Įlse if(ps2x.ButtonPressed(PSB_PAD_DOWN)) If(M Deadzone || RSY Deadzone || RSX Deadzone || LSY Deadzone || LSX 90) Int Arm(float x, float y, float z, int g, float wa, int wr) //Here's all the Inverse Kinematics to control the arm Serial.println("refusing Pressures mode") Serial.println("not accepting commands") Serial.println("Found Controller, configured successful") uncomment for digital servos in the Shoulder and ElbowĮrror = nfig_gamepad(CLK,CMD,ATT,DAT, true, true) //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error Select which arm by uncommenting the corresponding line comment to disable the Force Sensitive Resister on the gripper Well the problem is that I can not seem to understand the code. ![]() They said to delete the input from the keyboard/remote controller and that I would be good to go. ![]() I contacted linxmoton by their forums and they sent me some code.
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