Darkages/SpotMicroESP32-Leika
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🪠 Removes feature code

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This commit is contained in:
Rune Harlyk
2024-06-03 18:43:01 +02:00
committed by Rune Harlyk
parent bfca33e55d
commit 4bf630edd3
9 changed files with 16742 additions and 16260 deletions
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app/src/lib/kinematic.ts
+7 -7
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@@ -33,7 +33,7 @@ export default class Kinematic {
L: number;
W: number;
DEGREES2RAD = 0.017453292519943;
DEG2RAD = 0.017453292519943;
sHp = sin(Math.PI / 2);
cHp = cos(Math.PI / 2);
@@ -115,12 +115,12 @@ export default class Kinematic {
}
bodyIK(p: body_state_t) {
const cos_omega = cos(p.omega * this.DEGREES2RAD);
const sin_omega = sin(p.omega * this.DEGREES2RAD);
const cos_phi = cos(p.phi * this.DEGREES2RAD);
const sin_phi = sin(p.phi * this.DEGREES2RAD);
const cos_psi = cos(p.psi * this.DEGREES2RAD);
const sin_psi = sin(p.psi * this.DEGREES2RAD);
const cos_omega = cos(p.omega * this.DEG2RAD);
const sin_omega = sin(p.omega * this.DEG2RAD);
const cos_phi = cos(p.phi * this.DEG2RAD);
const sin_phi = sin(p.phi * this.DEG2RAD);
const cos_psi = cos(p.psi * this.DEG2RAD);
const sin_psi = sin(p.psi * this.DEG2RAD);
const Tm: number[][] = [
[cos_phi * cos_psi, -sin_psi * cos_phi, sin_phi, p.xm],