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Trammell Hudson committed d7316cb

adjust signs on normals and wrist angles

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Files changed (2)

 	const int wrist // wrist up = +1, wrist down = -1
 )
 {
-	const double M = -1;
+	const double M = 1;
 	const double ax = a[0];
 	const double ay = a[1];
 	const double az = a[2];
 
 	// Adjust xyz by the desired wrist orientation
 	// to determine the position of the spherical joint
-	double a[] = { -1, 0, 0 };
+	double a[] = { 1, 0, 0 };
 	double s[] = { 0, 1, 0 };
-	double n[] = { 0, 0, 1 };
+	double n[] = { 0, 0, -1 };
 
 
 	if (!ik_first(theta, xyz, 1, 1))
 			command += commands[4] * (1200.0/-10000);
 		}
 
-		if(1)
+		if(0)
 		printf("%d: %f => %.0f\n", i, theta[i] * 180 /M_PI, command);
 
 		if (command < lim->min || command > lim->max)