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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 | } |