Library used to control the Orbita actuator
Orbita python module
To control this actuator, a vector must be used to represent the orientation of the platform. An angle must also be identified to know the rotation of the platform on its own Z axis.
The orbita library allows the user to chose the orientation of the platform by typing a vector and an angle and to get the angles of the disks needed to do this rotation of the platform.
It also allows the user to use a quaternion (which can be provided by another system) to represent the rotation of the platform and get the angles of the disks.
Use the package manager pip to install the orbita library.
pip install orbita
from orbita import * a = Actuator([0,0,85],[0,0,65],35) #Creates the actuator object a.get_new_frame_from_vector(vector,angle) #returns new X,Y,Z vectors coordinates a.get_angles_from_vector(vector,angle) #returns q11,q12 and q13 angles values a.get_new_frame_from_quaternion(quaternion) #returns new X,Y,Z vectors coordinates a.get_angles_from_quaternion(quaternion) #returns q11,q12 and q13 angles values
The last method needs the last angular position of the disks and an offset of 360°. These values need to be reset everytime the user reset the position of the disks.
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