Mercurial > Kubik
changeset 107:408d6f00101e
f
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Wed, 02 Jul 2014 00:18:57 +0200 |
| parents | df24a7757a1d |
| children | 0948869675f8 |
| files | kubik.py |
| diffstat | 1 files changed, 1 insertions(+), 1 deletions(-) [+] |
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--- a/kubik.py Wed Jul 02 00:02:16 2014 +0200 +++ b/kubik.py Wed Jul 02 00:18:57 2014 +0200 @@ -64,7 +64,7 @@ def _inverse_kinematics(self, (x, y, z)): """Calculate the 3 angles of the leg, in radians.""" - f = _length(x, y) + f = _length(x, y) - self.coxa d = min(self.femur + self.tibia, _length(f, z)) hip = math.atan2(y, x) knee = _solve_triangle(self.femur, d, self.tibia) - math.atan2(-z, f)