ok .... i undestand these .... for these reason in my delta kins i write these
Code:
int kinematicsInverse(const EmcPose * world,
double * joints,
const KINEMATICS_INVERSE_FLAGS *iflags,
KINEMATICS_FORWARD_FLAGS *fflags)
{
double x0, y0, z0, theta1, theta2, theta3;
int status;
if ( condition ....) {get differential from (1th-time-encoder-count and 2th-time-encoder-count)float-value = MX}
if ( condition ....)
{[u][b]world->tran.x = world->tran.x + MX[/b][/u] (for example); x0 = world->tran.x;}
else if (condition ....)
{[u][b] world->tran.y = world->tran.y+ MX[/b][/u] (for example); y0 = world->tran.y;}
............
else {
x0 = world->tran.x;
y0 = world->tran.y;
z0 = world->tran.z;
joints[3] = world->a;
joints[4] = world->b;
joints[5] = world->c;
joints[6] = world->u;
joints[7] = world->v;
joints[8] = world->w;
}
theta1 = theta2 = theta3 = 0;
status = delta_calcAngleYZ(x0, y0, z0, &theta1);
.........................
@ dgarret this is my intention .... I ask the best way to do this "world->tran.x = world->tran.x + MX"....
