|
here are the formulas stright form my code . . . you each representating each leg
' The Three Full Formulas for the motion of the killough platform
' w = abs ( V ) / ( 2 * R ) * ( SIN ( theda ) - SQR ( 3 ) COS ( theda ) ) + ( T * L ) / R
' w = abs ( V ) / ( R ) * ( SIN ( theda ) ) + ( torque * lingth ) / R
' w = abs ( V ) / ( 2 * R ) * ( SIN ( theda ) + SQR ( 3 ) COS ( theda ) ) + ( T * L ) / R
|