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:

• Homing_v2

• Realtime Speed Control (MAIN PROGRAM)

Forward Kinematics:

• Cross Function

• Dot Product Function

• Norm Function

• Scalar Multiply Function

• Forward Kinematics Function

Inverse Kinematics:

• Inverse Kinematics Function

Motor Utilities:

• Startup with speed

MQTT:

• MQTT Publisher

• MQTT Subscriber 

• MQTT Program

Speed Calculations:

• Calculate Speed Function

• Calculate Angle Function

• Helper For Linear Function