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PROFERIS - Mi³osz Stocki
2026-07-08 12:51:45 +02:00
parent ff373deef1
commit c457910bfa
2 changed files with 40 additions and 35 deletions
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web/js/kinematics.js
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@@ -40,7 +40,7 @@ const ARM = {
l2: 110.0, // distal link length (mm)
STEPS_PER_REV: 2048,
STEP_ANGLE_DEG: 360 / 2048, // ≈ 0.17578125 °/step
HOME_STEPS: { m1: -1024, m2: 0 }, // M1 (Left) at -180°, M2 (Right) at 0° (arms folded outward)
HOME_STEPS: { m1: 1024, m2: 0 }, // M1 (Left) at +180°, M2 (Right) at 0° (arms folded outward)
};
// ── WORKSPACE CONSTRAINTS ─────────────────────────────────────────