Comments (2)
That's not where the divide by zero occurs. Z is never zero, but X and Y are zero in the centre of the travel for those axis, which means zero gets passed into the rest of the code and the trig fails elsewhere.
from opendog.
OK, that's fair enough. Maybe just extend the comment to explain this, as it's not immediately clear that's what the guard is for!
Following the flow of X
, in the example I linked, means that if X
is zero, hipAngle1
becomes zero, then sin(hipAngle1)
would be zero, leading to a divide-by-zero on the hipHypotenuse
calculation.
Thanks for clarifying!
Tom
from opendog.
Related Issues (19)
- ITX mount design HOT 1
- ideas for Group AI motion control HOT 1
- Code Organisation HOT 2
- Ardunio Sketches. HOT 2
- Is there a BOM file for this robot? HOT 11
- Use Enum in code
- Open Source License HOT 7
- IMU data reads HOT 2
- Object Oriented Programming HOT 2
- Code Releases
- using https://github.com/Technician13/QuadrupedForwardKinematic for inverse kinematic model
- "Incomplete" STP files? On OpenDog Part1 Remote STP files. HOT 1
- Idea: make this into a weeding machine
- Suggestion - Upper leg and belt tension
- How about actual source - Fusion 360 files? HOT 17
- Parts list? HOT 2
- how can i take the code into real cad ?? HOT 7
- Replacing Arduinos with Jetson Tx2 HOT 2
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from opendog.