There shall be a C library for running the math for IK. In order to make it adaptable for both a ROS IK node and for the next iteration where IK is planned to be computed in a fully embedded within the arm module.
Requirements:
Use 32-bit float values for computations.
For now: calculate angles of arm length 1 to horizonal normal of base and between arm length 1 and 2 from given end point of joint 3. (TODO for issue, put illustration here to visualize what this means)
Write code entirely in C without using C++ features.
Find way to provide motor speeds in order to smoothly translate arm to endpoint. This will allow for analog control of the endpoint of joint 3 with PS4 controller.
There shall be a C library for running the math for IK. In order to make it adaptable for both a ROS IK node and for the next iteration where IK is planned to be computed in a fully embedded within the arm module.
Requirements: