henriksod/Fabrik2DArduino

how to find tool angel?

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yurasakun commented

i use your library for my arm, but I don't understand what is meant by tool angle. Please help me

henriksod commented

The tool angle is the angle in which the tool approaches the object. If you set the tool angle to -90 degrees, then the arm will approach the object from above. If you set it to 0 degrees, it will approach the object from the side. Is this sufficient for an explanation?

Remember that the tool angle has to be given in radians.

yurasakun commented

Thanks, i understand! I use the MPu6050 to control my hand, and I transfer Bluetooth data, so is it necessary to transform x y z to other values ​​for your library?

henriksod commented

That depends on the reference coordinate system. I do not know how you have positioned your IMU, but if you take a look at how the axes are oriented on the module and compare that to the configuration examples where I have drawn the coordinate systems, you should get a general idea of what transformation you will have to do from [x,y,z]_IMU to [x,y,z]_ARM. Good luck!