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This page contains the general structure of the project, with links to each function/functionBlock

Prototype 1:

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

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