Factors into arm length into IK calculation. Prior IK calculation was written such that armPosition == 0 meant the total arm length from the shoulder rotation axis was 0m. This change factors in the minimum arm length (measured to be 21in, 0.5334m).
Type of change
[x] New feature (non-breaking change which adds functionality)
[x] Breaking change (fix or feature that would cause existing functionality to not work as expected)
[x] Bugfix (non-breaking change which fixes an issue, add DEF # above in description)
[x] Environment change (changes to developer environment or CI configuration)
[x] Documentation Update (if none of the other choices apply)
How Has This Been Tested?
IK code is still untested on the robot.
Author Checklist:
[x] I have performed a self-review of my code
[x] I have added 1-2 reviewers
[x] I have @mentioned relevant non-reviewers as an FYI
[x] I have included a detailed description of my changes and their motivations
Description
Factors into arm length into IK calculation. Prior IK calculation was written such that
armPosition == 0meant the total arm length from the shoulder rotation axis was 0m. This change factors in the minimum arm length (measured to be 21in, 0.5334m).Type of change
How Has This Been Tested?
IK code is still untested on the robot.
Author Checklist: