Differences

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--- control_system [2019/12/01 07:48] – [Inputs] graf
+++ control_system [2021/05/18 14:28] – ursgraf
@@ Line 1: / Line 1: @@
 ====== Control System ======
+The coordinate system is as follows
+{{:delta:software:orientation.png?400|}}
 The figure below shows the complete control system for our delta roboter.
 {{:delta:software:controlsystem.png|Control System of the Delta Roboter}}
@@ Line 26: / Line 30: @@
   * The ''Mouse Input'' gets the movement of the mouse. We use this block to manually control the Delta robot. The output of the ''Mouse Input'' is an vector with 4 entries. We must reduce it to 3 containing x, y, z.
-==== Headline ====
+==== Controller ====
 The "Motor Model" gets the actual speed and the calculated torque as input, and outputs the desired voltage for each motor.\\