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3.0 25.0 0.0 4.17 MB

Makefile 2.04% Python 2.25% Arduino 8.58% C++ 85.64% Processing 1.23% C 0.25% Shell 0.01% Elixir 0.01%

kestrel's Introduction

Thrust vectoring repository

Setup

Install scons
Install arduino-scons-alt

Building

cd into the relevant project folder
scons will build
scons upload will build and upload
If you get an error about com ports, adjust the port in SConstruct

kestrel's People

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kestrel's Issues

Servo math is overly complex

This line:

temp1=(2*s_a + 2*link - 1.0/(2*horn) - sqrt(sq(1.0/(2*horn) - 2*link - 2*s_a) - 4*(sq(s_a) + 2*link*s_a)*(1 + 1/(8*pow(horn,3)))))/(2*(1 + 1/(8*pow(horn,3))));

Has provably next to no effect. In a python terminal:

>>> link = 28
>>> horn = 12
>>> sq = lambda x: x * x
>>> from math import sqrt

>>> f = lambda s: (2*s + 2*link - 1.0/(2*horn) - sqrt(sq(1.0/(2*horn) - 2*link - 2*s) - 4*(sq(s) + 2*link*s)*(1 + 1/(8*pow(horn,3))))) / (2*(1 + 1/(8*pow(horn,3))))

>>> test_at = [i /10 for i in range(-120, 120)]  # Test all values of s between -12 and 12mm
>>> max(f(x) - x for x in test_at)  # calculate maximal deviation from identity function
0.009045560927901874

I think we can probably afford to lose one hundredth of a millimeter, especially given other assumptions made

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