Test of Concept:

• 24_7 calculateNewPosition
• 24_7 initMotor
• 24_7 Inverse Kinematics
• 24_7 Hastighets synkronisering

Prototype 1:

• 24_7 homeMotor
• 24_7 Interpolate3D
• 24_7 startProcedure
• 24_7 runCircle
• 24_7 runSquare
• 24_7 runSpeedTest

Finished Project:

Programs: (in sequential order)

• Idle
• FreeMove
• Homing

• MoveToTarget_v2Realtime Speed Control (MAIN PROGRAM)

Forward Kinematics:

• Cross Product

• Dot Product

• Euclidean Distance

• Scalar Multiply Function

• Forward Kinematics/Trilateration

Inverse Kinematics:

• Inverse Kinematics (Function)

Motor Utilities:

• Startup with speedPower Control

MQTT:

• MQTT Publisher

• MQTT Subscriber MQTT ProgramSubscriber

Speed Calculations:

• Calculate Speed Function

• Calculate Angle Function

• Helper For Linear Function