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johnny-five

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The JavaScript Arduino Programming Framework.

github.com/rwldrn/johnny-five

rwldrn/johnny-five

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knee = ACos(((Sqr(((Sqr(x ^ 2 + z ^ 2)) - coxalength) ^ 2 + y ^ 2)) ^ 2 - tibialength ^ 2 - femurlength ^ 2) / (-2 * femurlength * tibialength)) * 180 / pi swing = Atn(z / x) * 180 / pi lift = (((Atn(((Sqr(x ^ 2 + z ^ 2)) - coxalength) / y)) + (ACos((tibialength ^ 2 - femurlength ^ 2 - (Sqr(((Sqr(x ^ 2 + z ^ 2)) - coxalength) ^ 2 + y ^ 2)) ^ 2) / (-2 * femurlength * (Sqr(((Sqr(x ^ 2 + z ^ 2)) - coxalength) ^ 2 + y ^ 2)))))) * 180 / pi) - 90