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Rev | Author | Line No. | Line |
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1215 | giacomo | 1 | #include <kernel/kern.h> |
2 | #include <math.h> |
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3 | |||
4 | #include "servo.h" |
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5 | |||
6 | #define LEG_A 10.0 |
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7 | #define LEG_B 10.0 |
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8 | |||
9 | const double c0 = LEG_A * LEG_A; |
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10 | const double c1 = LEG_A * LEG_A - LEG_B * LEG_B; |
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11 | const double todeg = 180.0 / PI; |
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12 | |||
13 | int set_leg_position(double px, double py, double pz) |
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14 | { |
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15 | |||
16 | double px2 = px * px; |
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17 | double py2 = py * py; |
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18 | double pz2 = pz * pz; |
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19 | |||
20 | double pxz2 = pz2 + px2; |
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21 | double gamma1 = asin(pz/sqrt(pxz2)) * todeg; |
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22 | |||
23 | double s = pxz2 + py2; |
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24 | double k = c1 + s; |
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25 | double k2 = k * k; |
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26 | |||
27 | double delta_xy = py2 * k2 - s * (k2 - 4.0 * pxz2 * c0); |
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28 | double y1,dsqrt; |
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29 | double alfa1,beta1,alfa2,beta2; |
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30 | int alfa = 0, beta = 0, gamma = 0; |
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31 | |||
32 | if (delta_xy >= 0.0) { |
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33 | dsqrt = sqrt(delta_xy); |
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34 | y1 = (py * k + dsqrt) / (2.0 * s); |
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35 | alfa1 = asin(y1/LEG_A) * todeg; |
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36 | beta1 = asin((y1 - py)/LEG_B) * todeg + alfa1; |
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37 | y1 = (py * k - dsqrt) / (2.0 * s); |
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38 | alfa2 = asin(y1/LEG_A) * todeg; |
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39 | beta2 = asin((y1 - py)/LEG_B) * todeg + alfa2; |
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40 | cprintf("Alfa1 = %d Beta1 = %d\n",(int)alfa1,(int)beta1); |
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41 | cprintf("Alfa2 = %d Beta2 = %d\n",(int)alfa2,(int)beta2); |
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42 | if ((alfa1 >= -90.0 && alfa1 <= 90.0) && (beta1 >= 0.0 && beta1 <= 180.0)) { |
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43 | alfa = (int)(alfa1 * 3600.0); |
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44 | beta = (int)(beta1 * 3600.0); |
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45 | gamma = (int)(gamma1 * 3600.0); |
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46 | cprintf("Alfa Sec = %d Beta Sec = %d Gamma Sec = %d\n",alfa,beta,gamma); |
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47 | return 0; |
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48 | } else if ((alfa2 >= -90.0 && alfa2 <= 90.0) && (beta2 >= 0.0 && beta2 <= 180.0)) { |
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49 | alfa = (int)(alfa2 * 3600.0); |
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50 | beta = (int)(beta2 * 3600.0); |
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51 | gamma = (int)(gamma1 * 3600.0); |
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52 | cprintf("Alfa Sec = %d Beta Sec = %d Gamma Sec = %d\n",alfa,beta,gamma); |
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53 | return 0; |
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54 | } else { |
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55 | cprintf("No possible !\n"); |
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56 | return 1; |
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57 | } |
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58 | } else { |
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59 | cprintf("No possible !\n"); |
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60 | return 1; |
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61 | } |
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62 | |||
63 | } |