.DeltaRobot.Functions.checkLimits

Information

Return 'true' if all Delta Robot angles are within the valid ranges specified, return 'false' otherwise

Interface

function checkLimits
  extends DeltaRobot.Icons.Function;
  input SI.Position p[3] "Coordinates of the platform frame resolved in base frame";
  input SI.Distance L "Length of the upper arms";
  input SI.Distance l "Length of the parallelograms (long side)";
  input SI.Diameter Db "Base diameter";
  input SI.Diameter Dp "Platform diameter";
  input SI.Angle beta_base "Angle from the x-axis of the base frame to the direction where the joint #1 is located";
  input SI.Angle maxTheta = from_deg(85) "Max actuator angle";
  input SI.Angle minTheta = from_deg(-85) "Min actuator angle";
  input SI.Angle maxElbowAngle = from_deg(160) "Max internal angle between the upper arm and the parallelogram (180° means allignment)";
  input SI.Angle minElbowAngle = from_deg(20) "Min internal angle between the upper arm and the parallelogram (0° means overlap)";
  input SI.Angle maxParallelogramAngle = from_deg(30) "Max parallelogram direction angle (0° means rectangular shape)";
  input SI.Angle minParallelogramAngle = from_deg(-30) "Min parallelogram direction angle (0° means rectangular shape)";
  input SI.Angle maxPlatformAngle = from_deg(180) "Max angle between parallelogram and platform (180° means allignment)";
  input SI.Angle minPlatformAngle = from_deg(80) "Min angle between parallelogram and platform (0° means overlap)";
  output Boolean correct "'=true' if all angles are within their respective valid ranges, '=false' otherwise";
end checkLimits;