Diff: Kinematic.h

Revision:

3:fd037c89ba5f

Parent:

2:c9c38629be85

Child:

4:d3bb9ead2a55

--- a/Kinematic.h	Tue Dec 22 18:01:37 2015 +0000
+++ b/Kinematic.h	Wed Dec 23 00:32:09 2015 +0000
@@ -1,4 +1,5 @@
 #include "mbed.h"
+static Serial test(SERIAL_TX,SERIAL_RX);
 class Kinematic
 {
 private:
@@ -8,6 +9,12 @@
     float Zeta_Knee;   //degree
     float Position_Y;  //centimeter
     float Position_Z;  //centimeter
+    float offset_y;
+    float offset_z;
+    float zeta_knee_range_max;
+    float zeta_knee_range_min;
+    float zeta_hip_range_max;
+    float zeta_hip_range_min;
 public:
     Kinematic(float, float);
     Kinematic(char, float, float, float, float);
@@ -29,6 +36,12 @@
     float get_Position_Z() {
         return Position_Z;
     }
+    float get_offset_y() {
+        return offset_y;
+    }
+    float get_offset_z() {
+        return offset_z;
+    }
 
     void set_Link_Hip(float);
     void set_Link_Knee(float);
@@ -36,7 +49,13 @@
     void set_Zeta_Knee(float);
     void set_Position_Y(float);
     void set_Position_Z(float);
+    void set_zeta_knee_range(float,float);
+    void set_zeta_hip_range(float,float);
+    void set_offset_YZ(float,float);
+    void SumPositionWithOffset();
 
     void ForwardKinematicCalculation();
     void InverseKinematicCalculation();
+
+    void print();
 };
\ No newline at end of file