Use Triangulation and restructure `IK`

BinghamtonRover / Arm-Firmware

Arduino IDE sketches to run on a Teensy MCU and control the rover arm and gripper

https://binghamtonrover.github.io/arm-firmware/

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Use Triangulation and restructure `IK` #2

Closed Levi-Lesches closed 2 years ago

Levi-Lesches commented 2 years ago

Pretty much changed everything. The gist of it is that now you just call IK::calculateAngles(newX, newY) from the .ino script to determine the new angles and pass them along to the motors. For more details, see the new README.