- ik.py
- Kinematics(length1,length2,length3,length4) input: link lengths Kinematics object for robot arm.
- Kinematics.move_to(target): target = array(target_x, target_y, target_z) returns: time_elapsed (in seconds) Move to a target coordinate. If out of range, it will scale the target vector to a vector in the same direction with magnitude same as its length.
- Kinematics.grip(bool): bool = 1 (for enable) or 0 (for disable) returns: 1 (after successfuly run) or 0 (fail) Grip enable/disable.
- Kinematics.dispense(): returns: 1 (after successfuly run) or 0 (fail) Dispense card. Need to implement sensor in the future.