engineerm-jp / inverse_kinematics_youtube

Inverse_Kinematics_YouTube

inverse_kinematics_youtube's Issues

Angle corrector scope clarification.

Hi, i was hoping to understand something in this code snippet.

def angle_corrector(self, angles=[0,0,0], is_right=True):
angles[1] -= 1.5*pi; # add offset

    if is_right:
        theta_1 = angles[0] - pi
        theta_2 = angles[1] + 45*pi/180 # 45 degrees initial offset
    else: 
        if angles[0] > pi:  
            theta_1 = angles[0] - 2*pi
        else: theta_1 = angles[0]
        
        theta_2 = -angles[1] - 45*pi/180
    
    theta_3 = -angles[2] + 45*pi/180
    return [theta_1, theta_2, theta_3]

i understand that you add + 45pi/180 with theta_2 and when it is right and - 45pi/180 When it is left side legs to keep the angles between 0 to 180 degree. I have also noticed that right side legs angle produce positive angles and in case of left side its producing negative angles. But can you explain why you angles[1] -= 1.5pi and theta_1 = angles[0] - pi and theta_1 = angles[0] - 2pi.

Actually i am controlling three servo with from the generated angles . Starting from x=0, y=0 and
z=(-ve)length of the last leg . But sometimes i am getting negative angles (i am doing with serial communication) and thats not supported in servo. Btw my servo can move 0 to 170ish degress.can you suggest me a workaround? Would appreciate a lot.