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Title: For developers fixed point by mattuna15 · Pull Request #9 · uArm-Developer/SwiftProForArduino · GitHub

Open Graph Title: For developers fixed point by mattuna15 · Pull Request #9 · uArm-Developer/SwiftProForArduino

X Title: For developers fixed point by mattuna15 · Pull Request #9 · uArm-Developer/SwiftProForArduino

Description: Attempt at improving some maths. Uses fixed point library https://github.com/Pharap/FixedPointsArduino and cos_fix https://www.logre.eu/wiki/Trigonométrie_en_virgule_fixe

Open Graph Description: Attempt at improving some maths. Uses fixed point library https://github.com/Pharap/FixedPointsArduino and cos_fix https://www.logre.eu/wiki/Trigonométrie_en_virgule_fixe

X Description: Attempt at improving some maths. Uses fixed point library https://github.com/Pharap/FixedPointsArduino and cos_fix https://www.logre.eu/wiki/Trigonométrie_en_virgule_fixe

Opengraph URL: https://github.com/uArm-Developer/SwiftProForArduino/pull/9

X: @github

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new command M2121 Vx for angular position of jointshttps://patch-diff.githubusercontent.com/uArm-Developer/SwiftProForArduino/pull/9/commits/db801d94e9430d70b0c480518c6e0ff5a016ef5d
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Uses Arduino Fixed point library and removes division to improve some…https://patch-diff.githubusercontent.com/uArm-Developer/SwiftProForArduino/pull/9/commits/4feb7479f5059961f0bb3ddb130127ac3259306f
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Update Maths in uArmAPI and remove division from MATH_TRANS constant …https://patch-diff.githubusercontent.com/uArm-Developer/SwiftProForArduino/pull/9/commits/df5702006192901bb931cd8bc823d1111ea1db53
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UArmAPI version of XYZ is different to that in UArmSwift for some rea…https://patch-diff.githubusercontent.com/uArm-Developer/SwiftProForArduino/pull/9/commits/124d510a8f4aa23b36ec52ed6aa5af33daba57e4
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Movement getting jerky if M2120 is used #7 https://patch-diff.githubusercontent.com/uArm-Developer/SwiftProForArduino/issues/7
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Replace native cos and sin functions with fixed point equivalents opt…https://patch-diff.githubusercontent.com/uArm-Developer/SwiftProForArduino/pull/9/commits/553a66ca9c6bae0d0aa85419f4780040bd31d5e7
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