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Fixed IK math

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origin: 0.0, 0.0
extended: 0.7853981633974483, 3.141592653589793
just y: 0.1367898269242458, 0.27357965384849187
just x: 0.0, 0.0
just x: 1.7075861537191424, 0.27357965384849187
This commit is contained in:
66945
2022-01-22 14:14:35 -07:00
parent e0c4bb479b
commit 20f4bdf5ba
1 changed files with 29 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+29 -16
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@@ -55,54 +55,67 @@ public class Climber extends SubsystemBase {
* IK resource: https://devforum.roblox.com/t/2-joint-2-limb-inverse-kinematics/252399 */
public static double[] getJointAngles(double xTarget, double yTarget, double tiltAngle) {
double [] angles = new double[2];
double mag = Math.hypot(xTarget, yTarget);
if(mag > ClimberConstants.MAX_ARM_LENGTH) {
if(mag >= ClimberConstants.MAX_ARM_LENGTH) {
xTarget = (xTarget / mag) * ClimberConstants.MAX_ARM_LENGTH;
yTarget = (yTarget / mag) * ClimberConstants.MAX_ARM_LENGTH;
mag = ClimberConstants.MAX_ARM_LENGTH;
} else if(mag < ClimberConstants.MIN_ARM_LENGTH) {
} else if(mag < ClimberConstants.MIN_ARM_LENGTH && mag != 0) {
xTarget = (xTarget / mag) * ClimberConstants.MIN_ARM_LENGTH;
yTarget = (yTarget / mag) * ClimberConstants.MIN_ARM_LENGTH;
mag = ClimberConstants.MIN_ARM_LENGTH;
} else if(mag < ClimberConstants.MIN_ARM_LENGTH) {
xTarget = ClimberConstants.MIN_ARM_LENGTH;
yTarget = 0.d;
mag = ClimberConstants.MIN_ARM_LENGTH;
}
// The angle to the target point
double theta = Math.atan(yTarget / xTarget) + tiltAngle; // TODO rename variable
double theta;
if(xTarget == 0.d) {
theta = Math.PI/2.d; // TODO rename variable
} else {
theta = Math.atan(yTarget / xTarget);
}
theta += tiltAngle;
if(xTarget < 0.d)
theta += Math.PI;
theta += Math.PI;
// Correct target position for tilt
xTarget = Math.cos(theta) * mag;
yTarget = Math.sin(theta) * mag;
// Law and Order: Cosines edition
double shoulderAngle = Math.acos((Math.pow(ClimberConstants.LOWER_ARM_LENGTH, 2) + Math.pow(mag, 2) - Math.pow(ClimberConstants.UPPER_ARM_LENGTH, 2)) /
double shoulderAngle;
if(mag == 0) {
shoulderAngle = 0;
} else {
shoulderAngle = Math.acos((Math.pow(ClimberConstants.LOWER_ARM_LENGTH, 2) + Math.pow(mag, 2) - Math.pow(ClimberConstants.UPPER_ARM_LENGTH, 2)) /
(2.d * ClimberConstants.LOWER_ARM_LENGTH * mag));
//shoulderAngle = acos(LowerArmLength^2 + mag^2)
}
shoulderAngle = theta - shoulderAngle;
double elbowAngle = Math.acos((Math.pow(ClimberConstants.LOWER_ARM_LENGTH, 2) + Math.pow(ClimberConstants.UPPER_ARM_LENGTH, 2) - Math.pow(mag, 2)) /
(2.d * ClimberConstants.LOWER_ARM_LENGTH * ClimberConstants.UPPER_ARM_LENGTH));
elbowAngle = Math.PI - elbowAngle;
//elbowAngle = Math.PI - elbowAngle;
// If the climber is resting on the robot base, rotate the upper arm in the direction of the target
if(shoulderAngle <= ClimberConstants.SHOULDER_RESTING_ANGLE) {
shoulderAngle = ClimberConstants.SHOULDER_RESTING_ANGLE;
double xDiff = xTarget - ClimberConstants.LOWER_ARM_LENGTH;
elbowAngle = Math.atan(-yTarget / xDiff);
if(elbowAngle < ClimberConstants.ELBOW_RESTING_ANGLE)
elbowAngle = ClimberConstants.ELBOW_RESTING_ANGLE;
elbowAngle = Math.PI - elbowAngle;
// Deal with negative wraparound
if(xDiff >= 0.d)
elbowAngle += Math.PI;
}
angles[0] = shoulderAngle;
angles[1] = elbowAngle;
return angles;