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Sharwin24 2025-02-25 11:20:56 -06:00
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content/posts/delta-robot/index.md
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@ -78,9 +78,7 @@ void DeltaKinematics::forwardKinematics(const std::shared_ptr<DeltaFK::Request>
response->y = y; // [mm]
response->z = z; // [mm]
}
```
```cpp
int DeltaKinematics::deltaFK_AngleYZ(float x0, float y0, float z0, float& theta) {
float y1 = -0.5 * tan30 * SB; // Half base * tan(30)
y0 -= 0.5 * tan30 * this->SP; // shift center to edge