Commits

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Author Commit Message Labels Comments Date
Trammell Hudson
factored command loop into separate function
Tags
before-usb-split
Trammell Hudson
skeleton for fk
Trammell Hudson
Move joint configuration into joint_cfg_t
Trammell Hudson
move command processing into same thread as serial ports
Trammell Hudson
Thoughts on what the servo controller should have
Trammell Hudson
Add go home and sample position commands
Trammell Hudson
Better sizing; fits now
Trammell Hudson
first attempt at a tool holder
Trammell Hudson
Adjust speed and tool angle
Trammell Hudson
Point wrist "down"
Trammell Hudson
adjust signs on normals and wrist angles
Trammell Hudson
wrist works! calibration is off, but motion is right
Trammell Hudson
IK on the wrist is looking better
Trammell Hudson
Wrist IK is almost there
Trammell Hudson
add linear movement. not great, but a start
Trammell Hudson
forgot to add ik.h
Trammell Hudson
xyz commands work
Trammell Hudson
limit positions out of ik algorithm
Trammell Hudson
direct ik works!
Trammell Hudson
ik reachability seems to work
Trammell Hudson
Implemented direct ik algorithm
Trammell Hudson
Adjusted DH params; maybe right?
Trammell Hudson
home position
Trammell Hudson
forward kinematics
Trammell Hudson
smaller steps
hud...@osresearch.net
fixes for linux
Trammell Hudson
Adjust update rates and slow down reconfig strings
Trammell Hudson
hand held control works
Trammell Hudson
send commands to the robot based on the jog wheel and speed setting
Trammell Hudson
Add handheld controller thread
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